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<div class="title">surface_normal_modality.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved. </span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_RECOGNITION_SURFACE_NORMAL_MODALITY</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_RECOGNITION_SURFACE_NORMAL_MODALITY</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/quantizable_modality.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/recognition/distance_map.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2include_2pcl_2point__types_8h.html">pcl/point_types.h</a>&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/features/linear_least_squares_normal.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html">   55</a></span>&#160;  <span class="keyword">struct </span>PCL_EXPORTS <a class="code" href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html">LINEMOD_OrientationMap</a></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#a700d870eb5a8eb8d92855a1963127094">   59</a></span>&#160;      <span class="keyword">inline</span> <a class="code" href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#a700d870eb5a8eb8d92855a1963127094">LINEMOD_OrientationMap</a> () : width_ (0), height_ (0), map_ () {}</div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#a68103b3b1823c0a27a31b1fb5fb865c4">   61</a></span>&#160;      <span class="keyword">inline</span> <a class="code" href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#a68103b3b1823c0a27a31b1fb5fb865c4">~LINEMOD_OrientationMap</a> () {}</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#a5a571ff35d370ffa81db4991b3201f63">   65</a></span>&#160;      <a class="code" href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#a5a571ff35d370ffa81db4991b3201f63">getWidth</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        <span class="keywordflow">return</span> width_;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      }</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#a768bdbc948ce45be9ef1829fb241120a">   72</a></span>&#160;      <a class="code" href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#a768bdbc948ce45be9ef1829fb241120a">getHeight</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        <span class="keywordflow">return</span> height_;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      }</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#a666d06b4a007cd001ba4292b2247b53a">   84</a></span>&#160;      <a class="code" href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#a666d06b4a007cd001ba4292b2247b53a">resize</a> (<span class="keyword">const</span> <span class="keywordtype">size_t</span> width, <span class="keyword">const</span> <span class="keywordtype">size_t</span> height, <span class="keyword">const</span> <span class="keywordtype">float</span> value)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      {</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        width_ = width;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        height_ = height;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        map_.clear ();</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;        map_.resize (width*height, value);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      }</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">float</span> &amp;</div>
<div class="line"><a name="l00097"></a><span class="lineno"><a class="line" href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#a3db958dfa8dd3d23821eddddcc7c7ae5">   97</a></span>&#160;      operator() (<span class="keyword">const</span> <span class="keywordtype">size_t</span> col_index, <span class="keyword">const</span> <span class="keywordtype">size_t</span> row_index)</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      {</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;        <span class="keywordflow">return</span> map_[row_index * width_ + col_index];</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      }</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> <span class="keywordtype">float</span> &amp;</div>
<div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#ac9cac85928e205c6a61206e965296d6d">  107</a></span>&#160;      operator() (<span class="keyword">const</span> <span class="keywordtype">size_t</span> col_index, <span class="keyword">const</span> <span class="keywordtype">size_t</span> row_index)<span class="keyword"> const</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="keywordflow">return</span> map_[row_index * width_ + col_index];</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;      }</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00114"></a><span class="lineno"><a class="line" href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#a8a89ab8ad288eddab56d0faaf011fbfa">  114</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#a8a89ab8ad288eddab56d0faaf011fbfa">width_</a>;</div>
<div class="line"><a name="l00116"></a><span class="lineno"><a class="line" href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#a5c6fc26c72b14155b8cf8a1938b12ee5">  116</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#a5c6fc26c72b14155b8cf8a1938b12ee5">height_</a>;</div>
<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#a26fe4965b3772a6d05049231b27e5f20">  118</a></span>&#160;      std::vector&lt;float&gt; <a class="code" href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#a26fe4965b3772a6d05049231b27e5f20">map_</a>;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  };</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno"><a class="line" href="structpcl_1_1_quantized_normal_look_up_table.html">  125</a></span>&#160;  <span class="keyword">struct </span><a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html">QuantizedNormalLookUpTable</a></div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;  {</div>
<div class="line"><a name="l00128"></a><span class="lineno"><a class="line" href="structpcl_1_1_quantized_normal_look_up_table.html#af828a47f2a5a7e6df1896f4acec6f7a4">  128</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#af828a47f2a5a7e6df1896f4acec6f7a4">range_x</a>;</div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="structpcl_1_1_quantized_normal_look_up_table.html#a5e8c0d25ae7c8eca843543199354ce16">  130</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a5e8c0d25ae7c8eca843543199354ce16">range_y</a>;</div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="structpcl_1_1_quantized_normal_look_up_table.html#aa4c9a05828df028bda2268787a12c6b3">  132</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#aa4c9a05828df028bda2268787a12c6b3">range_z</a>;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00135"></a><span class="lineno"><a class="line" href="structpcl_1_1_quantized_normal_look_up_table.html#a655a2a37c17dc50d2bba74ba501bba84">  135</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a655a2a37c17dc50d2bba74ba501bba84">offset_x</a>;</div>
<div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="structpcl_1_1_quantized_normal_look_up_table.html#afb4886f45cf005ce297ae1297ade8d19">  137</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#afb4886f45cf005ce297ae1297ade8d19">offset_y</a>;</div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="structpcl_1_1_quantized_normal_look_up_table.html#aa0b113c6ffb1f044e0fca0cbaafdd956">  139</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#aa0b113c6ffb1f044e0fca0cbaafdd956">offset_z</a>;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="structpcl_1_1_quantized_normal_look_up_table.html#a40c7090c6624456eb7453e9ca3340ec9">  142</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a40c7090c6624456eb7453e9ca3340ec9">size_x</a>;</div>
<div class="line"><a name="l00144"></a><span class="lineno"><a class="line" href="structpcl_1_1_quantized_normal_look_up_table.html#a2d9e7e945f704a7a870da490f9c8f41a">  144</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a2d9e7e945f704a7a870da490f9c8f41a">size_y</a>;</div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="structpcl_1_1_quantized_normal_look_up_table.html#acedb18bb8f24ecd63f578b04b87980ca">  146</a></span>&#160;    <span class="keywordtype">int</span> <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#acedb18bb8f24ecd63f578b04b87980ca">size_z</a>;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="structpcl_1_1_quantized_normal_look_up_table.html#a79f6a576592ac907728c09aa01aba719">  149</a></span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a79f6a576592ac907728c09aa01aba719">lut</a>;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno"><a class="line" href="structpcl_1_1_quantized_normal_look_up_table.html#a4f81c47eb0b6efaa389b4de6b926ace8">  152</a></span>&#160;    <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a4f81c47eb0b6efaa389b4de6b926ace8">QuantizedNormalLookUpTable</a> () : </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#af828a47f2a5a7e6df1896f4acec6f7a4">range_x</a> (-1), <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a5e8c0d25ae7c8eca843543199354ce16">range_y</a> (-1), <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#aa4c9a05828df028bda2268787a12c6b3">range_z</a> (-1), </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a655a2a37c17dc50d2bba74ba501bba84">offset_x</a> (-1), <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#afb4886f45cf005ce297ae1297ade8d19">offset_y</a> (-1), <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#aa0b113c6ffb1f044e0fca0cbaafdd956">offset_z</a> (-1), </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a40c7090c6624456eb7453e9ca3340ec9">size_x</a> (-1), <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a2d9e7e945f704a7a870da490f9c8f41a">size_y</a> (-1), <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#acedb18bb8f24ecd63f578b04b87980ca">size_z</a> (-1), <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a79f6a576592ac907728c09aa01aba719">lut</a> (NULL) </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    {}</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno"><a class="line" href="structpcl_1_1_quantized_normal_look_up_table.html#a55c14b12d6bfc1ea927a0433d7625afa">  159</a></span>&#160;    <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a55c14b12d6bfc1ea927a0433d7625afa">~QuantizedNormalLookUpTable</a> () </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    { </div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a79f6a576592ac907728c09aa01aba719">lut</a> != NULL) </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        <span class="keyword">delete</span>[] <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a79f6a576592ac907728c09aa01aba719">lut</a>; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    }</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="structpcl_1_1_quantized_normal_look_up_table.html#a3720afaa1a28cc7d0c985ef6ba8b9ed7">  171</a></span>&#160;    <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a3720afaa1a28cc7d0c985ef6ba8b9ed7">initializeLUT</a> (<span class="keyword">const</span> <span class="keywordtype">int</span> range_x_arg, <span class="keyword">const</span> <span class="keywordtype">int</span> range_y_arg, <span class="keyword">const</span> <span class="keywordtype">int</span> range_z_arg)</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;    {</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#af828a47f2a5a7e6df1896f4acec6f7a4">range_x</a> = range_x_arg;</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a5e8c0d25ae7c8eca843543199354ce16">range_y</a> = range_y_arg;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#aa4c9a05828df028bda2268787a12c6b3">range_z</a> = range_z_arg;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a40c7090c6624456eb7453e9ca3340ec9">size_x</a> = range_x_arg+1;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a2d9e7e945f704a7a870da490f9c8f41a">size_y</a> = range_y_arg+1;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#acedb18bb8f24ecd63f578b04b87980ca">size_z</a> = range_z_arg+1;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a655a2a37c17dc50d2bba74ba501bba84">offset_x</a> = range_x_arg/2;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#afb4886f45cf005ce297ae1297ade8d19">offset_y</a> = range_y_arg/2;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#aa0b113c6ffb1f044e0fca0cbaafdd956">offset_z</a> = range_z_arg;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <span class="comment">//if (lut != NULL) free16(lut);</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      <span class="comment">//lut = malloc16(size_x*size_y*size_z);</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      <span class="keywordflow">if</span> (<a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a79f6a576592ac907728c09aa01aba719">lut</a> != NULL) </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <span class="keyword">delete</span>[] <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a79f6a576592ac907728c09aa01aba719">lut</a>;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a79f6a576592ac907728c09aa01aba719">lut</a> = <span class="keyword">new</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>[<a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a40c7090c6624456eb7453e9ca3340ec9">size_x</a>*<a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a2d9e7e945f704a7a870da490f9c8f41a">size_y</a>*<a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#acedb18bb8f24ecd63f578b04b87980ca">size_z</a>];</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> nr_normals = 8;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        pcl::PointCloud&lt;PointXYZ&gt;::VectorType ref_normals (nr_normals);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> normal0_angle = 40.0f * 3.14f / 180.0f;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      ref_normals[0].x = cosf (normal0_angle);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      ref_normals[0].y = 0.0f;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      ref_normals[0].z = -sinf (normal0_angle);</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> inv_nr_normals = 1.0f / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (nr_normals);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> normal_index = 1; normal_index &lt; nr_normals; ++normal_index)</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      {</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> angle = 2.0f * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (M_PI * normal_index * inv_nr_normals);</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        ref_normals[normal_index].x = cosf (angle) * ref_normals[0].x - sinf (angle) * ref_normals[0].y;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        ref_normals[normal_index].y = sinf (angle) * ref_normals[0].x + cosf (angle) * ref_normals[0].y;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        ref_normals[normal_index].z = ref_normals[0].z;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      }</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      <span class="comment">// normalize normals</span></div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> normal_index = 0; normal_index &lt; nr_normals; ++normal_index)</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      {</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> length = std::sqrt (ref_normals[normal_index].x * ref_normals[normal_index].x +</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;                                        ref_normals[normal_index].y * ref_normals[normal_index].y +</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;                                        ref_normals[normal_index].z * ref_normals[normal_index].z);</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> inv_length = 1.0f / length;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        ref_normals[normal_index].x *= inv_length;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        ref_normals[normal_index].y *= inv_length;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        ref_normals[normal_index].z *= inv_length;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      }</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      <span class="comment">// set LUT</span></div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> z_index = 0; z_index &lt; <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#acedb18bb8f24ecd63f578b04b87980ca">size_z</a>; ++z_index)</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      {</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y_index = 0; y_index &lt; <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a2d9e7e945f704a7a870da490f9c8f41a">size_y</a>; ++y_index)</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        {</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x_index = 0; x_index &lt; <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a40c7090c6624456eb7453e9ca3340ec9">size_x</a>; ++x_index)</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;          {</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;            <a class="code" href="structpcl_1_1_point_x_y_z.html">PointXYZ</a> normal (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (x_index - <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#af828a47f2a5a7e6df1896f4acec6f7a4">range_x</a>/2), </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;                             <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (y_index - <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a5e8c0d25ae7c8eca843543199354ce16">range_y</a>/2), </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;                             <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (z_index - <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#aa4c9a05828df028bda2268787a12c6b3">range_z</a>));</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> length = std::sqrt (normal.x*normal.x + normal.y*normal.y + normal.z*normal.z);</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> inv_length = 1.0f / (length + 0.00001f);</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;            normal.x *= inv_length;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;            normal.y *= inv_length;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;            normal.z *= inv_length;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;            <span class="keywordtype">float</span> max_response = -1.0f;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;            <span class="keywordtype">int</span> max_index = -1;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160; </div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> normal_index = 0; normal_index &lt; nr_normals; ++normal_index)</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;            {</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;              <span class="keyword">const</span> <span class="keywordtype">float</span> response = normal.x * ref_normals[normal_index].x +</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;                                     normal.y * ref_normals[normal_index].y +</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;                                     normal.z * ref_normals[normal_index].z;</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;              <span class="keyword">const</span> <span class="keywordtype">float</span> abs_response = fabsf (response);</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;              <span class="keywordflow">if</span> (max_response &lt; abs_response)</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;              {</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;                max_response = abs_response;</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;                max_index = normal_index;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;              }</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;              <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a79f6a576592ac907728c09aa01aba719">lut</a>[z_index*<a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a2d9e7e945f704a7a870da490f9c8f41a">size_y</a>*<a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a40c7090c6624456eb7453e9ca3340ec9">size_x</a> + y_index*<a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a40c7090c6624456eb7453e9ca3340ec9">size_x</a> + x_index] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (0x1 &lt;&lt; max_index);</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;            }</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;          }</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        }</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      }</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    }</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160; </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> </div>
<div class="line"><a name="l00268"></a><span class="lineno"><a class="line" href="structpcl_1_1_quantized_normal_look_up_table.html#a4cd6a5749e1c5563eab97da895f7cb08">  268</a></span>&#160;    <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a4cd6a5749e1c5563eab97da895f7cb08">operator() </a>(<span class="keyword">const</span> <span class="keywordtype">float</span> x, <span class="keyword">const</span> <span class="keywordtype">float</span> y, <span class="keyword">const</span> <span class="keywordtype">float</span> z)<span class="keyword"> const</span></div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">size_t</span> x_index = <span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> (x * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a655a2a37c17dc50d2bba74ba501bba84">offset_x</a>) + <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a655a2a37c17dc50d2bba74ba501bba84">offset_x</a>));</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">size_t</span> y_index = <span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> (y * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#afb4886f45cf005ce297ae1297ade8d19">offset_y</a>) + <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#afb4886f45cf005ce297ae1297ade8d19">offset_y</a>));</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">size_t</span> z_index = <span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> (z * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#aa4c9a05828df028bda2268787a12c6b3">range_z</a>) + <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (<a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#aa4c9a05828df028bda2268787a12c6b3">range_z</a>));</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">size_t</span> index = z_index*<a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a2d9e7e945f704a7a870da490f9c8f41a">size_y</a>*<a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a40c7090c6624456eb7453e9ca3340ec9">size_x</a> + y_index*<a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a40c7090c6624456eb7453e9ca3340ec9">size_x</a> + x_index;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160; </div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      <span class="keywordflow">return</span> (<a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a79f6a576592ac907728c09aa01aba719">lut</a>[index]);</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    }</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160; </div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> </div>
<div class="line"><a name="l00283"></a><span class="lineno"><a class="line" href="structpcl_1_1_quantized_normal_look_up_table.html#ab47ece678e8ab9805b80c9772530e689">  283</a></span>&#160;    <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a4cd6a5749e1c5563eab97da895f7cb08">operator() </a>(<span class="keyword">const</span> <span class="keywordtype">int</span> index)<span class="keyword"> const</span></div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;<span class="keyword">    </span>{</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      <span class="keywordflow">return</span> (<a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html#a79f6a576592ac907728c09aa01aba719">lut</a>[index]);</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    }</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  };</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160; </div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00294"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html">  294</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_surface_normal_modality.html">SurfaceNormalModality</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_quantizable_modality.html">QuantizableModality</a>, <span class="keyword">public</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase</a>&lt;PointInT&gt;</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  {</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointInT&gt;::input_</a>;</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00300"></a><span class="lineno"><a class="line" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html">  300</a></span>&#160;      <span class="keyword">struct </span><a class="code" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html">Candidate</a></div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;      {</div>
<div class="line"><a name="l00303"></a><span class="lineno"><a class="line" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#a045f6c308701efed2769df8e8320302e">  303</a></span>&#160;        <a class="code" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#a045f6c308701efed2769df8e8320302e">Candidate</a> () : <a class="code" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#a81e312e092eb9c37b6072e795977803d">normal</a> (), <a class="code" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#a27db3c3a483fc4fb4df419fbc643c996">distance</a> (0.0f), <a class="code" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#af2e406c33133a890c136fffce75c1d1d">bin_index</a> (0), <a class="code" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#a3d494817c873a9485cc88fd14c3e0948">x</a> (0), <a class="code" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#aba2d91bbb5969c4648dbf31c0246f2cd">y</a> (0) {}</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
<div class="line"><a name="l00306"></a><span class="lineno"><a class="line" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#a81e312e092eb9c37b6072e795977803d">  306</a></span>&#160;        <a class="code" href="structpcl_1_1_normal.html">Normal</a> <a class="code" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#a81e312e092eb9c37b6072e795977803d">normal</a>;</div>
<div class="line"><a name="l00308"></a><span class="lineno"><a class="line" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#a27db3c3a483fc4fb4df419fbc643c996">  308</a></span>&#160;        <span class="keywordtype">float</span> <a class="code" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#a27db3c3a483fc4fb4df419fbc643c996">distance</a>;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00311"></a><span class="lineno"><a class="line" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#af2e406c33133a890c136fffce75c1d1d">  311</a></span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> <a class="code" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#af2e406c33133a890c136fffce75c1d1d">bin_index</a>;</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;    </div>
<div class="line"><a name="l00314"></a><span class="lineno"><a class="line" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#a3d494817c873a9485cc88fd14c3e0948">  314</a></span>&#160;        <span class="keywordtype">size_t</span> <a class="code" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#a3d494817c873a9485cc88fd14c3e0948">x</a>;</div>
<div class="line"><a name="l00316"></a><span class="lineno"><a class="line" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#aba2d91bbb5969c4648dbf31c0246f2cd">  316</a></span>&#160;        <span class="keywordtype">size_t</span> <a class="code" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#aba2d91bbb5969c4648dbf31c0246f2cd">y</a>;   </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160; </div>
<div class="line"><a name="l00321"></a><span class="lineno"><a class="line" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#ad91ad8006eac9c920dcda4d0e3dad5dd">  321</a></span>&#160;        <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;        <a class="code" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#ad91ad8006eac9c920dcda4d0e3dad5dd">operator&lt; </a>(<span class="keyword">const</span> <a class="code" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html">Candidate</a> &amp; rhs)<span class="keyword"> const</span></div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;<span class="keyword">        </span>{</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#a27db3c3a483fc4fb4df419fbc643c996">distance</a> &gt; rhs.<a class="code" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#a27db3c3a483fc4fb4df419fbc643c996">distance</a>);</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;        }</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;      };</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160; </div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a> PointCloudIn;</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160; </div>
<div class="line"><a name="l00332"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#adf5471ede18de2346bf72e430687b576">  332</a></span>&#160;      <a class="code" href="classpcl_1_1_surface_normal_modality.html#adf5471ede18de2346bf72e430687b576">SurfaceNormalModality</a> ();</div>
<div class="line"><a name="l00334"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#a088d3f324dcffcfabd08b2043d6238fb">  334</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_surface_normal_modality.html#a088d3f324dcffcfabd08b2043d6238fb">~SurfaceNormalModality</a> ();</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160; </div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00340"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#a502066744d48e115f9416107cf8e9336">  340</a></span>&#160;      <a class="code" href="classpcl_1_1_surface_normal_modality.html#a502066744d48e115f9416107cf8e9336">setSpreadingSize</a> (<span class="keyword">const</span> <span class="keywordtype">size_t</span> spreading_size)</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;      {</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;        <a class="code" href="classpcl_1_1_surface_normal_modality.html#abd392f560bb5315a29b6db45b43ad7ad">spreading_size_</a> = spreading_size;</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      }</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160; </div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00349"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#ae0e36dff36e4a80f4be853159630d0d2">  349</a></span>&#160;      <a class="code" href="classpcl_1_1_surface_normal_modality.html#ae0e36dff36e4a80f4be853159630d0d2">setVariableFeatureNr</a> (<span class="keyword">const</span> <span class="keywordtype">bool</span> enabled)</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;      {</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;        <a class="code" href="classpcl_1_1_surface_normal_modality.html#ae2e47d44e126b6b5d70e9566b1d942b0">variable_feature_nr_</a> = enabled;</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      }</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;      <span class="keyword">inline</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::Normal&gt;</a> &amp;</div>
<div class="line"><a name="l00356"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#ad22686f686120cbec54eeca27c8850f0">  356</a></span>&#160;      <a class="code" href="classpcl_1_1_surface_normal_modality.html#ad22686f686120cbec54eeca27c8850f0">getSurfaceNormals</a> ()</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;      {</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_surface_normal_modality.html#a407ad4bb799b68a6d87a3400853ed24b">surface_normals_</a>;</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;      }</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160; </div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::Normal&gt;</a> &amp;</div>
<div class="line"><a name="l00363"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#a2b976f5469678c55fb58d614bc74ef44">  363</a></span>&#160;      <a class="code" href="classpcl_1_1_surface_normal_modality.html#a2b976f5469678c55fb58d614bc74ef44">getSurfaceNormals</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1_surface_normal_modality.html#a407ad4bb799b68a6d87a3400853ed24b">surface_normals_</a>;</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;      }</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160; </div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;      <span class="keyword">inline</span> <a class="code" href="classpcl_1_1_quantized_map.html">QuantizedMap</a> &amp;</div>
<div class="line"><a name="l00370"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#ab74742de3ba15cbfeca0969c60d95b80">  370</a></span>&#160;      <a class="code" href="classpcl_1_1_surface_normal_modality.html#ab74742de3ba15cbfeca0969c60d95b80">getQuantizedMap</a> () </div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;      { </div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_surface_normal_modality.html#a07b293f2be4721b06b003e12f1b2beb5">filtered_quantized_surface_normals_</a>); </div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;      }</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160; </div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;      <span class="keyword">inline</span> <a class="code" href="classpcl_1_1_quantized_map.html">QuantizedMap</a> &amp;</div>
<div class="line"><a name="l00377"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#a9210a435968b3cac68435cec03420df5">  377</a></span>&#160;      <a class="code" href="classpcl_1_1_surface_normal_modality.html#a9210a435968b3cac68435cec03420df5">getSpreadedQuantizedMap</a> () </div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;      { </div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_surface_normal_modality.html#a340e70c8ae25d6d85c61a9b8c875b8cb">spreaded_quantized_surface_normals_</a>); </div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;      }</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160; </div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;      <span class="keyword">inline</span> <a class="code" href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html">LINEMOD_OrientationMap</a> &amp;</div>
<div class="line"><a name="l00384"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#adf2fb96f80b26c7baff085ab01c844ee">  384</a></span>&#160;      <a class="code" href="classpcl_1_1_surface_normal_modality.html#adf2fb96f80b26c7baff085ab01c844ee">getOrientationMap</a> ()</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;      {</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_surface_normal_modality.html#ac0085264e48d5c5dc4317aa0ea1d4aad">surface_normal_orientations_</a>);</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;      }</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160; </div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00397"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#ad10f56a7c00a36cbffc6b3dd464b6bb2">  397</a></span>&#160;      <a class="code" href="classpcl_1_1_surface_normal_modality.html#ad10f56a7c00a36cbffc6b3dd464b6bb2">extractFeatures</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp; mask, <span class="keywordtype">size_t</span> nr_features, <span class="keywordtype">size_t</span> modality_index,</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;                       std::vector&lt;QuantizedMultiModFeature&gt; &amp; features) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160; </div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00407"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#af31077712cfe8911bd9627f79ab3782f">  407</a></span>&#160;      <a class="code" href="classpcl_1_1_surface_normal_modality.html#af31077712cfe8911bd9627f79ab3782f">extractAllFeatures</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp; mask, <span class="keywordtype">size_t</span> nr_features, <span class="keywordtype">size_t</span> modality_index,</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;                          std::vector&lt;QuantizedMultiModFeature&gt; &amp; features) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160; </div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00414"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#a49d1ef3d40ddcf485b1a6c7739bfa301">  414</a></span>&#160;      <a class="code" href="classpcl_1_1_surface_normal_modality.html#a49d1ef3d40ddcf485b1a6c7739bfa301">setInputCloud</a> (<span class="keyword">const</span> <span class="keyword">typename</span> PointCloudIn::ConstPtr &amp; cloud) </div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;      { </div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;        <a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a> = cloud;</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;      }</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160; </div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00421"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#a4e79645c315583b70b671461f46edf70">  421</a></span>&#160;      <a class="code" href="classpcl_1_1_surface_normal_modality.html#a4e79645c315583b70b671461f46edf70">processInputData</a> ();</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160; </div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00426"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#a8091954a4456860ee5ac563715bfbf72">  426</a></span>&#160;      <a class="code" href="classpcl_1_1_surface_normal_modality.html#a8091954a4456860ee5ac563715bfbf72">processInputDataFromFiltered</a> ();</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160; </div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160; </div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00432"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#a00eb230538b0061ca2a8a6324f2b9d40">  432</a></span>&#160;      <a class="code" href="classpcl_1_1_surface_normal_modality.html#a00eb230538b0061ca2a8a6324f2b9d40">computeSurfaceNormals</a> ();</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160; </div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00436"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#a08c179a483ef572ebe1f43f9fce81d97">  436</a></span>&#160;      <a class="code" href="classpcl_1_1_surface_normal_modality.html#a08c179a483ef572ebe1f43f9fce81d97">computeAndQuantizeSurfaceNormals</a> ();</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160; </div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00440"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#a47eba682876ce6fae24aa4020f4649c7">  440</a></span>&#160;      <a class="code" href="classpcl_1_1_surface_normal_modality.html#a47eba682876ce6fae24aa4020f4649c7">computeAndQuantizeSurfaceNormals2</a> ();</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160; </div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00444"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#a8e7319d0e451388baf875fba8a223bf0">  444</a></span>&#160;      <a class="code" href="classpcl_1_1_surface_normal_modality.html#a8e7319d0e451388baf875fba8a223bf0">quantizeSurfaceNormals</a> ();</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160; </div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00448"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#ae0f10e280b61a13ff064e9578164204d">  448</a></span>&#160;      <a class="code" href="classpcl_1_1_surface_normal_modality.html#ae0f10e280b61a13ff064e9578164204d">filterQuantizedSurfaceNormals</a> ();</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160; </div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00455"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#ab6f7ea436fe627a8d04608b2aca933cc">  455</a></span>&#160;      <a class="code" href="classpcl_1_1_surface_normal_modality.html#ab6f7ea436fe627a8d04608b2aca933cc">computeDistanceMap</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp; input, <a class="code" href="classpcl_1_1_distance_map.html">DistanceMap</a> &amp; output) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160; </div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160; </div>
<div class="line"><a name="l00460"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#ae2e47d44e126b6b5d70e9566b1d942b0">  460</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_surface_normal_modality.html#ae2e47d44e126b6b5d70e9566b1d942b0">variable_feature_nr_</a>;</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160; </div>
<div class="line"><a name="l00463"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#a359da24833263b524074a2a953e25e6c">  463</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_surface_normal_modality.html#a359da24833263b524074a2a953e25e6c">feature_distance_threshold_</a>;</div>
<div class="line"><a name="l00465"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#a13360a1562e300ea0ab17e853a3fe0a8">  465</a></span>&#160;      <span class="keywordtype">float</span> <a class="code" href="classpcl_1_1_surface_normal_modality.html#a13360a1562e300ea0ab17e853a3fe0a8">min_distance_to_border_</a>;</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160; </div>
<div class="line"><a name="l00468"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#a3bf48909de6236fcbaa1cfe701dbc018">  468</a></span>&#160;      <a class="code" href="structpcl_1_1_quantized_normal_look_up_table.html">QuantizedNormalLookUpTable</a> <a class="code" href="classpcl_1_1_surface_normal_modality.html#a3bf48909de6236fcbaa1cfe701dbc018">normal_lookup_</a>;</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160; </div>
<div class="line"><a name="l00471"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#abd392f560bb5315a29b6db45b43ad7ad">  471</a></span>&#160;      <span class="keywordtype">size_t</span> <a class="code" href="classpcl_1_1_surface_normal_modality.html#abd392f560bb5315a29b6db45b43ad7ad">spreading_size_</a>;</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160; </div>
<div class="line"><a name="l00474"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#a407ad4bb799b68a6d87a3400853ed24b">  474</a></span>&#160;      <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::Normal&gt;</a> <a class="code" href="classpcl_1_1_surface_normal_modality.html#a407ad4bb799b68a6d87a3400853ed24b">surface_normals_</a>;</div>
<div class="line"><a name="l00476"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#ae48fc2c0d10318818afd1db0f3a32713">  476</a></span>&#160;      <a class="code" href="classpcl_1_1_quantized_map.html">pcl::QuantizedMap</a> <a class="code" href="classpcl_1_1_surface_normal_modality.html#ae48fc2c0d10318818afd1db0f3a32713">quantized_surface_normals_</a>;</div>
<div class="line"><a name="l00478"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#a07b293f2be4721b06b003e12f1b2beb5">  478</a></span>&#160;      <a class="code" href="classpcl_1_1_quantized_map.html">pcl::QuantizedMap</a> <a class="code" href="classpcl_1_1_surface_normal_modality.html#a07b293f2be4721b06b003e12f1b2beb5">filtered_quantized_surface_normals_</a>;</div>
<div class="line"><a name="l00480"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#a340e70c8ae25d6d85c61a9b8c875b8cb">  480</a></span>&#160;      <a class="code" href="classpcl_1_1_quantized_map.html">pcl::QuantizedMap</a> <a class="code" href="classpcl_1_1_surface_normal_modality.html#a340e70c8ae25d6d85c61a9b8c875b8cb">spreaded_quantized_surface_normals_</a>;</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160; </div>
<div class="line"><a name="l00483"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#ac0085264e48d5c5dc4317aa0ea1d4aad">  483</a></span>&#160;      <a class="code" href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html">pcl::LINEMOD_OrientationMap</a> <a class="code" href="classpcl_1_1_surface_normal_modality.html#ac0085264e48d5c5dc4317aa0ea1d4aad">surface_normal_orientations_</a>;</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160; </div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;  };</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160; </div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;}</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160; </div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00491"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#adf5471ede18de2346bf72e430687b576">  491</a></span>&#160;<a class="code" href="classpcl_1_1_surface_normal_modality.html#adf5471ede18de2346bf72e430687b576">pcl::SurfaceNormalModality&lt;PointInT&gt;::</a></div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;<a class="code" href="classpcl_1_1_surface_normal_modality.html#adf5471ede18de2346bf72e430687b576">SurfaceNormalModality</a> ()</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;  : variable_feature_nr_ (false)</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;  , feature_distance_threshold_ (2.0f)</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;  , min_distance_to_border_ (2.0f)</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;  , normal_lookup_ ()</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;  , spreading_size_ (8)</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;  , surface_normals_ ()</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;  , quantized_surface_normals_ ()</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;  , filtered_quantized_surface_normals_ ()</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;  , spreaded_quantized_surface_normals_ ()</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;  , surface_normal_orientations_ ()</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;{</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;}</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160; </div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt;</div>
<div class="line"><a name="l00508"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#a088d3f324dcffcfabd08b2043d6238fb">  508</a></span>&#160;<a class="code" href="classpcl_1_1_surface_normal_modality.html#a088d3f324dcffcfabd08b2043d6238fb">pcl::SurfaceNormalModality&lt;PointInT&gt;::~SurfaceNormalModality</a> ()</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;{</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;}</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160; </div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00514"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#a4e79645c315583b70b671461f46edf70">  514</a></span>&#160;<a class="code" href="classpcl_1_1_surface_normal_modality.html#a4e79645c315583b70b671461f46edf70">pcl::SurfaceNormalModality&lt;PointInT&gt;::processInputData</a> ()</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;{</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;  <span class="comment">// compute surface normals</span></div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;  <span class="comment">//computeSurfaceNormals ();</span></div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160; </div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;  <span class="comment">// quantize surface normals</span></div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;  <span class="comment">//quantizeSurfaceNormals ();</span></div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160; </div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;  computeAndQuantizeSurfaceNormals2 ();</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160; </div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;  <span class="comment">// filter quantized surface normals</span></div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;  filterQuantizedSurfaceNormals ();</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160; </div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;  <span class="comment">// spread quantized surface normals</span></div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;  pcl::QuantizedMap::spreadQuantizedMap (filtered_quantized_surface_normals_,</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;                                         spreaded_quantized_surface_normals_,</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;                                         spreading_size_);</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;}</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160; </div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00535"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#a8091954a4456860ee5ac563715bfbf72">  535</a></span>&#160;<a class="code" href="classpcl_1_1_surface_normal_modality.html#a8091954a4456860ee5ac563715bfbf72">pcl::SurfaceNormalModality&lt;PointInT&gt;::processInputDataFromFiltered</a> ()</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;{</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;  <span class="comment">// spread quantized surface normals</span></div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;  pcl::QuantizedMap::spreadQuantizedMap (filtered_quantized_surface_normals_,</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;                                         spreaded_quantized_surface_normals_,</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;                                         spreading_size_);</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;}</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160; </div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00545"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#a00eb230538b0061ca2a8a6324f2b9d40">  545</a></span>&#160;<a class="code" href="classpcl_1_1_surface_normal_modality.html#a00eb230538b0061ca2a8a6324f2b9d40">pcl::SurfaceNormalModality&lt;PointInT&gt;::computeSurfaceNormals</a> ()</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;{</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;  <span class="comment">// compute surface normals</span></div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;  <a class="code" href="classpcl_1_1_linear_least_squares_normal_estimation.html">pcl::LinearLeastSquaresNormalEstimation&lt;PointInT, pcl::Normal&gt;</a> ne;</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;  ne.<a class="code" href="classpcl_1_1_linear_least_squares_normal_estimation.html#ac8f4d5255f8d0bb422a91f6fd218169c">setMaxDepthChangeFactor</a>(0.05f);</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;  ne.<a class="code" href="classpcl_1_1_linear_least_squares_normal_estimation.html#a9b44b8927076d698fdb6b76f8eeab4dd">setNormalSmoothingSize</a>(5.0f);</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;  ne.<a class="code" href="classpcl_1_1_linear_least_squares_normal_estimation.html#ad9619003390029bc1fea9cde42511f11">setDepthDependentSmoothing</a>(<span class="keyword">false</span>);</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;  ne.<a class="code" href="classpcl_1_1_linear_least_squares_normal_estimation.html#ac0af9866542a67ab620662d5c362a176">setInputCloud</a> (input_);</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;  ne.<a class="code" href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">compute</a> (surface_normals_);</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;}</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160; </div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00558"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#a08c179a483ef572ebe1f43f9fce81d97">  558</a></span>&#160;<a class="code" href="classpcl_1_1_surface_normal_modality.html#a08c179a483ef572ebe1f43f9fce81d97">pcl::SurfaceNormalModality&lt;PointInT&gt;::computeAndQuantizeSurfaceNormals</a> ()</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;{</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;  <span class="comment">// compute surface normals</span></div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;  <span class="comment">//pcl::LinearLeastSquaresNormalEstimation&lt;PointInT, pcl::Normal&gt; ne;</span></div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;  <span class="comment">//ne.setMaxDepthChangeFactor(0.05f);</span></div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;  <span class="comment">//ne.setNormalSmoothingSize(5.0f);</span></div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;  <span class="comment">//ne.setDepthDependentSmoothing(false);</span></div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;  <span class="comment">//ne.setInputCloud (input_);</span></div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;  <span class="comment">//ne.compute (surface_normals_);</span></div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160; </div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160; </div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> bad_point = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160; </div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> width = input_-&gt;width;</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> height = input_-&gt;height;</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160; </div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;  surface_normals_.resize (width*height);</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;  surface_normals_.width = width;</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;  surface_normals_.height = height;</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;  surface_normals_.is_dense = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160; </div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;  quantized_surface_normals_.resize (width, height);</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160; </div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;  <span class="comment">// we compute the normals as follows:</span></div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;  <span class="comment">// ----------------------------------</span></div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;  <span class="comment">// </span></div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;  <span class="comment">// for the depth-gradient you can make the following first-order Taylor approximation:</span></div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;  <span class="comment">//   D(x + dx) - D(x) = dx^T \Delta D + h.o.t.</span></div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;  <span class="comment">//     </span></div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;  <span class="comment">// build linear system by stacking up equation for 8 neighbor points:</span></div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;  <span class="comment">//   Y = X \Delta D</span></div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;  <span class="comment">// </span></div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;  <span class="comment">// =&gt; \Delta D = (X^T X)^{-1} X^T Y</span></div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;  <span class="comment">// =&gt; \Delta D = (A)^{-1} b</span></div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160; </div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> y = 0; y &lt; height; ++y)</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;  {</div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> x = 0; x &lt; width; ++x)</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;    {</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> index = y * width + x;</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160; </div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> px = input_-&gt;points[index].x;</div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> py = input_-&gt;points[index].y;</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> pz = input_-&gt;points[index].z;</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160; </div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;      <span class="keywordflow">if</span> (pcl_isnan(px) || pz &gt; 2.0f) </div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;      {</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;        surface_normals_.points[index].normal_x = bad_point;</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;        surface_normals_.points[index].normal_y = bad_point;</div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;        surface_normals_.points[index].normal_z = bad_point;</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;        surface_normals_.points[index].curvature = bad_point;</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160; </div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;        quantized_surface_normals_ (x, y) = 0;</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160; </div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;      }</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160; </div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> smoothingSizeInt = 5;</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160; </div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;      <span class="keywordtype">float</span> matA0 = 0.0f;</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;      <span class="keywordtype">float</span> matA1 = 0.0f;</div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;      <span class="keywordtype">float</span> matA3 = 0.0f;</div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160; </div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;      <span class="keywordtype">float</span> vecb0 = 0.0f;</div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;      <span class="keywordtype">float</span> vecb1 = 0.0f;</div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160; </div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> v = y - smoothingSizeInt; v &lt;= y + smoothingSizeInt; v += smoothingSizeInt)</div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;      {</div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> u = x - smoothingSizeInt; u &lt;= x + smoothingSizeInt; u += smoothingSizeInt)</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;        {</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;          <span class="keywordflow">if</span> (u &lt; 0 || u &gt;= width || v &lt; 0 || v &gt;= height) <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160; </div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">size_t</span> index2 = v * width + u;</div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160; </div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> qx = input_-&gt;points[index2].x;</div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> qy = input_-&gt;points[index2].y;</div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> qz = input_-&gt;points[index2].z;</div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160; </div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;          <span class="keywordflow">if</span> (pcl_isnan(qx)) <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160; </div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> delta = qz - pz;</div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> i = qx - px;</div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> j = qy - py;</div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160; </div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> f = fabs(delta) &lt; 0.05f ? 1.0f : 0.0f;</div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160; </div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;          matA0 += f * i * i;</div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;          matA1 += f * i * j;</div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;          matA3 += f * j * j;</div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;          vecb0 += f * i * delta;</div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;          vecb1 += f * j * delta;</div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;        }</div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;      }</div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160; </div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> det = matA0 * matA3 - matA1 * matA1;</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> ddx = matA3 * vecb0 - matA1 * vecb1;</div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> ddy = -matA1 * vecb0 + matA0 * vecb1;</div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160; </div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> nx = ddx;</div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> ny = ddy;</div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> nz = -det * pz;</div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160; </div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> length = nx * nx + ny * ny + nz * nz;</div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160; </div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;      <span class="keywordflow">if</span> (length &lt;= 0.0f)</div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;      {</div>
<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;        surface_normals_.points[index].normal_x = bad_point;</div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;        surface_normals_.points[index].normal_y = bad_point;</div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;        surface_normals_.points[index].normal_z = bad_point;</div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;        surface_normals_.points[index].curvature = bad_point;</div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160; </div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;        quantized_surface_normals_ (x, y) = 0;</div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;      }</div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;      {</div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> normInv = 1.0f / std::sqrt (length);</div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160; </div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> normal_x = nx * normInv;</div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> normal_y = ny * normInv;</div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> normal_z = nz * normInv;</div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160; </div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;        surface_normals_.points[index].normal_x = normal_x;</div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;        surface_normals_.points[index].normal_y = normal_y;</div>
<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;        surface_normals_.points[index].normal_z = normal_z;</div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;        surface_normals_.points[index].curvature = bad_point;</div>
<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160; </div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;        <span class="keywordtype">float</span> angle = 11.25f + atan2 (normal_y, normal_x)*180.0f/3.14f;</div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160; </div>
<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;        <span class="keywordflow">if</span> (angle &lt; 0.0f) angle += 360.0f;</div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;        <span class="keywordflow">if</span> (angle &gt;= 360.0f) angle -= 360.0f;</div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160; </div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;        <span class="keywordtype">int</span> bin_index = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (angle*8.0f/360.0f) &amp; 7;</div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160; </div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;        quantized_surface_normals_ (x, y) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (bin_index);</div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;      }</div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;    }</div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;  }</div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;}</div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160; </div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160; </div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;<span class="comment">// Contains GRANULARITY and NORMAL_LUT</span></div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;<span class="comment">//#include &quot;normal_lut.i&quot;</span></div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160; </div>
<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;<span class="keyword">static</span> <span class="keywordtype">void</span> accumBilateral(<span class="keywordtype">long</span> delta, <span class="keywordtype">long</span> i, <span class="keywordtype">long</span> j, <span class="keywordtype">long</span> * A, <span class="keywordtype">long</span> * b, <span class="keywordtype">int</span> threshold)</div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;{</div>
<div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;  <span class="keywordtype">long</span> f = std::abs(delta) &lt; threshold ? 1 : 0;</div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160; </div>
<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">long</span> fi = f * i;</div>
<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">long</span> fj = f * j;</div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160; </div>
<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;  A[0] += fi * i;</div>
<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;  A[1] += fi * j;</div>
<div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;  A[3] += fj * j;</div>
<div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;  b[0]  += fi * delta;</div>
<div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160;  b[1]  += fj * delta;</div>
<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160;}</div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160; </div>
<div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00724"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#a47eba682876ce6fae24aa4020f4649c7">  724</a></span>&#160;<a class="code" href="classpcl_1_1_surface_normal_modality.html#a47eba682876ce6fae24aa4020f4649c7">pcl::SurfaceNormalModality&lt;PointInT&gt;::computeAndQuantizeSurfaceNormals2</a> ()</div>
<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;{</div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> width = input_-&gt;width;</div>
<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> height = input_-&gt;height;</div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160; </div>
<div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> * lp_depth = <span class="keyword">new</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span>[width*height];</div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * lp_normals = <span class="keyword">new</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>[width*height];</div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;  memset (lp_normals, 0, width*height);</div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160; </div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;  surface_normal_orientations_.resize (width, height, 0.0f);</div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160; </div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> row_index = 0; row_index &lt; height; ++row_index)</div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;  {</div>
<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> col_index = 0; col_index &lt; width; ++col_index)</div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;    {</div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> value = input_-&gt;points[row_index*width + col_index].z;</div>
<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;      <span class="keywordflow">if</span> (pcl_isfinite (value))</div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;      {</div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;        lp_depth[row_index*width + col_index] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">short</span><span class="keyword">&gt;</span> (value * 1000.0f);</div>
<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;      }</div>
<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;      {</div>
<div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160;        lp_depth[row_index*width + col_index] = 0;</div>
<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;      }</div>
<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;    }</div>
<div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;  }</div>
<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160; </div>
<div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> l_W = width;</div>
<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> l_H = height;</div>
<div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160; </div>
<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> l_r = 5; <span class="comment">// used to be 7</span></div>
<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;  <span class="comment">//const int l_offset0 = -l_r - l_r * l_W;</span></div>
<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;  <span class="comment">//const int l_offset1 =    0 - l_r * l_W;</span></div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;  <span class="comment">//const int l_offset2 = +l_r - l_r * l_W;</span></div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;  <span class="comment">//const int l_offset3 = -l_r;</span></div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;  <span class="comment">//const int l_offset4 = +l_r;</span></div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;  <span class="comment">//const int l_offset5 = -l_r + l_r * l_W;</span></div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;  <span class="comment">//const int l_offset6 =    0 + l_r * l_W;</span></div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;  <span class="comment">//const int l_offset7 = +l_r + l_r * l_W;</span></div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160; </div>
<div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> offsets_i[] = {-l_r, 0, l_r, -l_r, l_r, -l_r, 0, l_r};</div>
<div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> offsets_j[] = {-l_r, -l_r, -l_r, 0, 0, l_r, l_r, l_r};</div>
<div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> offsets[] = { offsets_i[0] + offsets_j[0] * l_W</div>
<div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;                        , offsets_i[1] + offsets_j[1] * l_W</div>
<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;                        , offsets_i[2] + offsets_j[2] * l_W</div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;                        , offsets_i[3] + offsets_j[3] * l_W</div>
<div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;                        , offsets_i[4] + offsets_j[4] * l_W</div>
<div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;                        , offsets_i[5] + offsets_j[5] * l_W</div>
<div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;                        , offsets_i[6] + offsets_j[6] * l_W</div>
<div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160;                        , offsets_i[7] + offsets_j[7] * l_W };</div>
<div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160; </div>
<div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160; </div>
<div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160;  <span class="comment">//const int l_offsetx = GRANULARITY / 2;</span></div>
<div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;  <span class="comment">//const int l_offsety = GRANULARITY / 2;</span></div>
<div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160; </div>
<div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> difference_threshold = 50;</div>
<div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> distance_threshold = 2000;</div>
<div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160; </div>
<div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160;  <span class="comment">//const double scale = 1000.0;</span></div>
<div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;  <span class="comment">//const double difference_threshold = 0.05 * scale;</span></div>
<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;  <span class="comment">//const double distance_threshold = 2.0 * scale;</span></div>
<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160; </div>
<div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> l_y = l_r; l_y &lt; l_H - l_r - 1; ++l_y)</div>
<div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160;  {</div>
<div class="line"><a name="l00788"></a><span class="lineno">  788</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> * lp_line = lp_depth + (l_y * l_W + l_r);</div>
<div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;    <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * lp_norm = lp_normals + (l_y * l_W + l_r);</div>
<div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160; </div>
<div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> l_x = l_r; l_x &lt; l_W - l_r - 1; ++l_x)</div>
<div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;    {</div>
<div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;      <span class="keywordtype">long</span> l_d = lp_line[0];</div>
<div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;      <span class="comment">//float l_d = input_-&gt;points[(l_y * l_W + l_r) + l_x].z;</span></div>
<div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;      <span class="comment">//float px = input_-&gt;points[(l_y * l_W + l_r) + l_x].x;</span></div>
<div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;      <span class="comment">//float py = input_-&gt;points[(l_y * l_W + l_r) + l_x].y;</span></div>
<div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160; </div>
<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;      <span class="keywordflow">if</span> (l_d &lt; distance_threshold)</div>
<div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160;      {</div>
<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;        <span class="comment">// accum</span></div>
<div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;        <span class="keywordtype">long</span> l_A[4]; l_A[0] = l_A[1] = l_A[2] = l_A[3] = 0;</div>
<div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;        <span class="keywordtype">long</span> l_b[2]; l_b[0] = l_b[1] = 0;</div>
<div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;        <span class="comment">//double l_A[4]; l_A[0] = l_A[1] = l_A[2] = l_A[3] = 0;</span></div>
<div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;        <span class="comment">//double l_b[2]; l_b[0] = l_b[1] = 0;</span></div>
<div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160; </div>
<div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160;        accumBilateral(lp_line[offsets[0]] - l_d, offsets_i[0], offsets_j[0], l_A, l_b, difference_threshold);</div>
<div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160;        accumBilateral(lp_line[offsets[1]] - l_d, offsets_i[1], offsets_j[1], l_A, l_b, difference_threshold);</div>
<div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160;        accumBilateral(lp_line[offsets[2]] - l_d, offsets_i[2], offsets_j[2], l_A, l_b, difference_threshold);</div>
<div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;        accumBilateral(lp_line[offsets[3]] - l_d, offsets_i[3], offsets_j[3], l_A, l_b, difference_threshold);</div>
<div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;        accumBilateral(lp_line[offsets[4]] - l_d, offsets_i[4], offsets_j[4], l_A, l_b, difference_threshold);</div>
<div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160;        accumBilateral(lp_line[offsets[5]] - l_d, offsets_i[5], offsets_j[5], l_A, l_b, difference_threshold);</div>
<div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160;        accumBilateral(lp_line[offsets[6]] - l_d, offsets_i[6], offsets_j[6], l_A, l_b, difference_threshold);</div>
<div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;        accumBilateral(lp_line[offsets[7]] - l_d, offsets_i[7], offsets_j[7], l_A, l_b, difference_threshold);</div>
<div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160; </div>
<div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;        <span class="comment">//for (size_t index = 0; index &lt; 8; ++index)</span></div>
<div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160;        <span class="comment">//{</span></div>
<div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;        <span class="comment">//  //accumBilateral(lp_line[offsets[index]] - l_d, offsets_i[index], offsets_j[index], l_A, l_b, difference_threshold);</span></div>
<div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160; </div>
<div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;        <span class="comment">//  //const long delta = lp_line[offsets[index]] - l_d;</span></div>
<div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;        <span class="comment">//  //const long i = offsets_i[index];</span></div>
<div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;        <span class="comment">//  //const long j = offsets_j[index];</span></div>
<div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;        <span class="comment">//  //long * A = l_A;</span></div>
<div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;        <span class="comment">//  //long * b = l_b;</span></div>
<div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;        <span class="comment">//  //const int threshold = difference_threshold;</span></div>
<div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160; </div>
<div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160;        <span class="comment">//  //const long f = std::abs(delta) &lt; threshold ? 1 : 0;</span></div>
<div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160; </div>
<div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160;        <span class="comment">//  //const long fi = f * i;</span></div>
<div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160;        <span class="comment">//  //const long fj = f * j;</span></div>
<div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160; </div>
<div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160;        <span class="comment">//  //A[0] += fi * i;</span></div>
<div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;        <span class="comment">//  //A[1] += fi * j;</span></div>
<div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160;        <span class="comment">//  //A[3] += fj * j;</span></div>
<div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160;        <span class="comment">//  //b[0] += fi * delta;</span></div>
<div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;        <span class="comment">//  //b[1] += fj * delta;</span></div>
<div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160; </div>
<div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160; </div>
<div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160;        <span class="comment">//  const double delta = 1000.0f * (input_-&gt;points[(l_y * l_W + l_r) + l_x + offsets[index]].z - l_d);</span></div>
<div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160;        <span class="comment">//  const double i = offsets_i[index];</span></div>
<div class="line"><a name="l00840"></a><span class="lineno">  840</span>&#160;        <span class="comment">//  const double j = offsets_j[index];</span></div>
<div class="line"><a name="l00841"></a><span class="lineno">  841</span>&#160;        <span class="comment">//  //const float i = input_-&gt;points[(l_y * l_W + l_r) + l_x + offsets[index]].x - px;//offsets_i[index];</span></div>
<div class="line"><a name="l00842"></a><span class="lineno">  842</span>&#160;        <span class="comment">//  //const float j = input_-&gt;points[(l_y * l_W + l_r) + l_x + offsets[index]].y - py;//offsets_j[index];</span></div>
<div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160;        <span class="comment">//  double * A = l_A;</span></div>
<div class="line"><a name="l00844"></a><span class="lineno">  844</span>&#160;        <span class="comment">//  double * b = l_b;</span></div>
<div class="line"><a name="l00845"></a><span class="lineno">  845</span>&#160;        <span class="comment">//  const double threshold = difference_threshold;</span></div>
<div class="line"><a name="l00846"></a><span class="lineno">  846</span>&#160; </div>
<div class="line"><a name="l00847"></a><span class="lineno">  847</span>&#160;        <span class="comment">//  const double f = std::fabs(delta) &lt; threshold ? 1.0f : 0.0f;</span></div>
<div class="line"><a name="l00848"></a><span class="lineno">  848</span>&#160; </div>
<div class="line"><a name="l00849"></a><span class="lineno">  849</span>&#160;        <span class="comment">//  const double fi = f * i;</span></div>
<div class="line"><a name="l00850"></a><span class="lineno">  850</span>&#160;        <span class="comment">//  const double fj = f * j;</span></div>
<div class="line"><a name="l00851"></a><span class="lineno">  851</span>&#160; </div>
<div class="line"><a name="l00852"></a><span class="lineno">  852</span>&#160;        <span class="comment">//  A[0] += fi * i;</span></div>
<div class="line"><a name="l00853"></a><span class="lineno">  853</span>&#160;        <span class="comment">//  A[1] += fi * j;</span></div>
<div class="line"><a name="l00854"></a><span class="lineno">  854</span>&#160;        <span class="comment">//  A[3] += fj * j;</span></div>
<div class="line"><a name="l00855"></a><span class="lineno">  855</span>&#160;        <span class="comment">//  b[0] += fi * delta;</span></div>
<div class="line"><a name="l00856"></a><span class="lineno">  856</span>&#160;        <span class="comment">//  b[1] += fj * delta;</span></div>
<div class="line"><a name="l00857"></a><span class="lineno">  857</span>&#160;        <span class="comment">//}</span></div>
<div class="line"><a name="l00858"></a><span class="lineno">  858</span>&#160; </div>
<div class="line"><a name="l00859"></a><span class="lineno">  859</span>&#160;        <span class="comment">//long f = std::abs(delta) &lt; threshold ? 1 : 0;</span></div>
<div class="line"><a name="l00860"></a><span class="lineno">  860</span>&#160; </div>
<div class="line"><a name="l00861"></a><span class="lineno">  861</span>&#160;        <span class="comment">//const long fi = f * i;</span></div>
<div class="line"><a name="l00862"></a><span class="lineno">  862</span>&#160;        <span class="comment">//const long fj = f * j;</span></div>
<div class="line"><a name="l00863"></a><span class="lineno">  863</span>&#160; </div>
<div class="line"><a name="l00864"></a><span class="lineno">  864</span>&#160;        <span class="comment">//A[0] += fi * i;</span></div>
<div class="line"><a name="l00865"></a><span class="lineno">  865</span>&#160;        <span class="comment">//A[1] += fi * j;</span></div>
<div class="line"><a name="l00866"></a><span class="lineno">  866</span>&#160;        <span class="comment">//A[3] += fj * j;</span></div>
<div class="line"><a name="l00867"></a><span class="lineno">  867</span>&#160;        <span class="comment">//b[0]  += fi * delta;</span></div>
<div class="line"><a name="l00868"></a><span class="lineno">  868</span>&#160;        <span class="comment">//b[1]  += fj * delta;</span></div>
<div class="line"><a name="l00869"></a><span class="lineno">  869</span>&#160; </div>
<div class="line"><a name="l00870"></a><span class="lineno">  870</span>&#160; </div>
<div class="line"><a name="l00871"></a><span class="lineno">  871</span>&#160;        <span class="comment">// solve</span></div>
<div class="line"><a name="l00872"></a><span class="lineno">  872</span>&#160;        <span class="keywordtype">long</span> l_det =  l_A[0] * l_A[3] - l_A[1] * l_A[1];</div>
<div class="line"><a name="l00873"></a><span class="lineno">  873</span>&#160;        <span class="keywordtype">long</span> l_ddx =  l_A[3] * l_b[0] - l_A[1] * l_b[1];</div>
<div class="line"><a name="l00874"></a><span class="lineno">  874</span>&#160;        <span class="keywordtype">long</span> l_ddy = -l_A[1] * l_b[0] + l_A[0] * l_b[1];</div>
<div class="line"><a name="l00875"></a><span class="lineno">  875</span>&#160; </div>
<div class="line"><a name="l00878"></a><span class="lineno">  878</span>&#160;        <span class="keywordtype">float</span> l_nx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(1150 * l_ddx);</div>
<div class="line"><a name="l00879"></a><span class="lineno">  879</span>&#160;        <span class="keywordtype">float</span> l_ny = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(1150 * l_ddy);</div>
<div class="line"><a name="l00880"></a><span class="lineno">  880</span>&#160;        <span class="keywordtype">float</span> l_nz = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(-l_det * l_d);</div>
<div class="line"><a name="l00881"></a><span class="lineno">  881</span>&#160; </div>
<div class="line"><a name="l00883"></a><span class="lineno">  883</span>&#160;        <span class="comment">//double l_det =  l_A[0] * l_A[3] - l_A[1] * l_A[1];</span></div>
<div class="line"><a name="l00884"></a><span class="lineno">  884</span>&#160;        <span class="comment">//double l_ddx =  l_A[3] * l_b[0] - l_A[1] * l_b[1];</span></div>
<div class="line"><a name="l00885"></a><span class="lineno">  885</span>&#160;        <span class="comment">//double l_ddy = -l_A[1] * l_b[0] + l_A[0] * l_b[1];</span></div>
<div class="line"><a name="l00886"></a><span class="lineno">  886</span>&#160; </div>
<div class="line"><a name="l00889"></a><span class="lineno">  889</span>&#160;        <span class="comment">//const double dummy_focal_length = 1150.0f;</span></div>
<div class="line"><a name="l00890"></a><span class="lineno">  890</span>&#160;        <span class="comment">//double l_nx = l_ddx * dummy_focal_length;</span></div>
<div class="line"><a name="l00891"></a><span class="lineno">  891</span>&#160;        <span class="comment">//double l_ny = l_ddy * dummy_focal_length;</span></div>
<div class="line"><a name="l00892"></a><span class="lineno">  892</span>&#160;        <span class="comment">//double l_nz = -l_det * l_d;</span></div>
<div class="line"><a name="l00893"></a><span class="lineno">  893</span>&#160; </div>
<div class="line"><a name="l00894"></a><span class="lineno">  894</span>&#160;        <span class="keywordtype">float</span> l_sqrt = std::sqrt (l_nx * l_nx + l_ny * l_ny + l_nz * l_nz);</div>
<div class="line"><a name="l00895"></a><span class="lineno">  895</span>&#160; </div>
<div class="line"><a name="l00896"></a><span class="lineno">  896</span>&#160;        <span class="keywordflow">if</span> (l_sqrt &gt; 0)</div>
<div class="line"><a name="l00897"></a><span class="lineno">  897</span>&#160;        {</div>
<div class="line"><a name="l00898"></a><span class="lineno">  898</span>&#160;          <span class="keywordtype">float</span> l_norminv = 1.0f / (l_sqrt);</div>
<div class="line"><a name="l00899"></a><span class="lineno">  899</span>&#160; </div>
<div class="line"><a name="l00900"></a><span class="lineno">  900</span>&#160;          l_nx *= l_norminv;</div>
<div class="line"><a name="l00901"></a><span class="lineno">  901</span>&#160;          l_ny *= l_norminv;</div>
<div class="line"><a name="l00902"></a><span class="lineno">  902</span>&#160;          l_nz *= l_norminv;</div>
<div class="line"><a name="l00903"></a><span class="lineno">  903</span>&#160; </div>
<div class="line"><a name="l00904"></a><span class="lineno">  904</span>&#160;          <span class="keywordtype">float</span> angle = 22.5f + atan2f (l_ny, l_nx) * 180.0f / 3.14f;</div>
<div class="line"><a name="l00905"></a><span class="lineno">  905</span>&#160; </div>
<div class="line"><a name="l00906"></a><span class="lineno">  906</span>&#160;          <span class="keywordflow">if</span> (angle &lt; 0.0f) angle += 360.0f;</div>
<div class="line"><a name="l00907"></a><span class="lineno">  907</span>&#160;          <span class="keywordflow">if</span> (angle &gt;= 360.0f) angle -= 360.0f;</div>
<div class="line"><a name="l00908"></a><span class="lineno">  908</span>&#160; </div>
<div class="line"><a name="l00909"></a><span class="lineno">  909</span>&#160;          <span class="keywordtype">int</span> bin_index = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (angle*8.0f/360.0f) &amp; 7;</div>
<div class="line"><a name="l00910"></a><span class="lineno">  910</span>&#160; </div>
<div class="line"><a name="l00911"></a><span class="lineno">  911</span>&#160;          surface_normal_orientations_ (l_x, l_y) = angle;</div>
<div class="line"><a name="l00912"></a><span class="lineno">  912</span>&#160; </div>
<div class="line"><a name="l00913"></a><span class="lineno">  913</span>&#160;          <span class="comment">//*lp_norm = fabs(l_nz)*255;</span></div>
<div class="line"><a name="l00914"></a><span class="lineno">  914</span>&#160; </div>
<div class="line"><a name="l00915"></a><span class="lineno">  915</span>&#160;          <span class="comment">//int l_val1 = static_cast&lt;int&gt;(l_nx * l_offsetx + l_offsetx);</span></div>
<div class="line"><a name="l00916"></a><span class="lineno">  916</span>&#160;          <span class="comment">//int l_val2 = static_cast&lt;int&gt;(l_ny * l_offsety + l_offsety);</span></div>
<div class="line"><a name="l00917"></a><span class="lineno">  917</span>&#160;          <span class="comment">//int l_val3 = static_cast&lt;int&gt;(l_nz * GRANULARITY + GRANULARITY);</span></div>
<div class="line"><a name="l00918"></a><span class="lineno">  918</span>&#160; </div>
<div class="line"><a name="l00919"></a><span class="lineno">  919</span>&#160;          <span class="comment">//*lp_norm = NORMAL_LUT[l_val3][l_val2][l_val1];</span></div>
<div class="line"><a name="l00920"></a><span class="lineno">  920</span>&#160;          *lp_norm = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (0x1 &lt;&lt; bin_index);</div>
<div class="line"><a name="l00921"></a><span class="lineno">  921</span>&#160;        }</div>
<div class="line"><a name="l00922"></a><span class="lineno">  922</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00923"></a><span class="lineno">  923</span>&#160;        {</div>
<div class="line"><a name="l00924"></a><span class="lineno">  924</span>&#160;          *lp_norm = 0; <span class="comment">// Discard shadows from depth sensor</span></div>
<div class="line"><a name="l00925"></a><span class="lineno">  925</span>&#160;        }</div>
<div class="line"><a name="l00926"></a><span class="lineno">  926</span>&#160;      }</div>
<div class="line"><a name="l00927"></a><span class="lineno">  927</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00928"></a><span class="lineno">  928</span>&#160;      {</div>
<div class="line"><a name="l00929"></a><span class="lineno">  929</span>&#160;        *lp_norm = 0; <span class="comment">//out of depth</span></div>
<div class="line"><a name="l00930"></a><span class="lineno">  930</span>&#160;      }</div>
<div class="line"><a name="l00931"></a><span class="lineno">  931</span>&#160;      ++lp_line;</div>
<div class="line"><a name="l00932"></a><span class="lineno">  932</span>&#160;      ++lp_norm;</div>
<div class="line"><a name="l00933"></a><span class="lineno">  933</span>&#160;    }</div>
<div class="line"><a name="l00934"></a><span class="lineno">  934</span>&#160;  }</div>
<div class="line"><a name="l00935"></a><span class="lineno">  935</span>&#160;  <span class="comment">/*cvSmooth(m_dep[0], m_dep[0], CV_MEDIAN, 5, 5);*/</span></div>
<div class="line"><a name="l00936"></a><span class="lineno">  936</span>&#160; </div>
<div class="line"><a name="l00937"></a><span class="lineno">  937</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> map[255];</div>
<div class="line"><a name="l00938"></a><span class="lineno">  938</span>&#160;  memset(map, 0, 255);</div>
<div class="line"><a name="l00939"></a><span class="lineno">  939</span>&#160; </div>
<div class="line"><a name="l00940"></a><span class="lineno">  940</span>&#160;  map[0x1&lt;&lt;0] = 0;</div>
<div class="line"><a name="l00941"></a><span class="lineno">  941</span>&#160;  map[0x1&lt;&lt;1] = 1;</div>
<div class="line"><a name="l00942"></a><span class="lineno">  942</span>&#160;  map[0x1&lt;&lt;2] = 2;</div>
<div class="line"><a name="l00943"></a><span class="lineno">  943</span>&#160;  map[0x1&lt;&lt;3] = 3;</div>
<div class="line"><a name="l00944"></a><span class="lineno">  944</span>&#160;  map[0x1&lt;&lt;4] = 4;</div>
<div class="line"><a name="l00945"></a><span class="lineno">  945</span>&#160;  map[0x1&lt;&lt;5] = 5;</div>
<div class="line"><a name="l00946"></a><span class="lineno">  946</span>&#160;  map[0x1&lt;&lt;6] = 6;</div>
<div class="line"><a name="l00947"></a><span class="lineno">  947</span>&#160;  map[0x1&lt;&lt;7] = 7;</div>
<div class="line"><a name="l00948"></a><span class="lineno">  948</span>&#160; </div>
<div class="line"><a name="l00949"></a><span class="lineno">  949</span>&#160;  quantized_surface_normals_.resize (width, height);</div>
<div class="line"><a name="l00950"></a><span class="lineno">  950</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> row_index = 0; row_index &lt; height; ++row_index)</div>
<div class="line"><a name="l00951"></a><span class="lineno">  951</span>&#160;  {</div>
<div class="line"><a name="l00952"></a><span class="lineno">  952</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> col_index = 0; col_index &lt; width; ++col_index)</div>
<div class="line"><a name="l00953"></a><span class="lineno">  953</span>&#160;    {</div>
<div class="line"><a name="l00954"></a><span class="lineno">  954</span>&#160;      quantized_surface_normals_ (col_index, row_index) = map[lp_normals[row_index*width + col_index]];</div>
<div class="line"><a name="l00955"></a><span class="lineno">  955</span>&#160;    }</div>
<div class="line"><a name="l00956"></a><span class="lineno">  956</span>&#160;  }</div>
<div class="line"><a name="l00957"></a><span class="lineno">  957</span>&#160; </div>
<div class="line"><a name="l00958"></a><span class="lineno">  958</span>&#160;  <span class="keyword">delete</span>[] lp_depth;</div>
<div class="line"><a name="l00959"></a><span class="lineno">  959</span>&#160;  <span class="keyword">delete</span>[] lp_normals;</div>
<div class="line"><a name="l00960"></a><span class="lineno">  960</span>&#160;}</div>
<div class="line"><a name="l00961"></a><span class="lineno">  961</span>&#160; </div>
<div class="line"><a name="l00962"></a><span class="lineno">  962</span>&#160; </div>
<div class="line"><a name="l00964"></a><span class="lineno">  964</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00965"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#ad10f56a7c00a36cbffc6b3dd464b6bb2">  965</a></span>&#160;<a class="code" href="classpcl_1_1_surface_normal_modality.html#ad10f56a7c00a36cbffc6b3dd464b6bb2">pcl::SurfaceNormalModality&lt;PointInT&gt;::extractFeatures</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp; mask,</div>
<div class="line"><a name="l00966"></a><span class="lineno">  966</span>&#160;                                                       <span class="keyword">const</span> <span class="keywordtype">size_t</span> nr_features,</div>
<div class="line"><a name="l00967"></a><span class="lineno">  967</span>&#160;                                                       <span class="keyword">const</span> <span class="keywordtype">size_t</span> modality_index,</div>
<div class="line"><a name="l00968"></a><span class="lineno">  968</span>&#160;                                                       std::vector&lt;QuantizedMultiModFeature&gt; &amp; features)<span class="keyword"> const</span></div>
<div class="line"><a name="l00969"></a><span class="lineno">  969</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l00970"></a><span class="lineno">  970</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> width = mask.getWidth ();</div>
<div class="line"><a name="l00971"></a><span class="lineno">  971</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> height = mask.getHeight ();</div>
<div class="line"><a name="l00972"></a><span class="lineno">  972</span>&#160; </div>
<div class="line"><a name="l00973"></a><span class="lineno">  973</span>&#160;  <span class="comment">//cv::Mat maskImage(height, width, CV_8U, mask.mask);</span></div>
<div class="line"><a name="l00974"></a><span class="lineno">  974</span>&#160;  <span class="comment">//cv::erode(maskImage, maskImage</span></div>
<div class="line"><a name="l00975"></a><span class="lineno">  975</span>&#160; </div>
<div class="line"><a name="l00976"></a><span class="lineno">  976</span>&#160;  <span class="comment">// create distance maps for every quantization value</span></div>
<div class="line"><a name="l00977"></a><span class="lineno">  977</span>&#160;  <span class="comment">//cv::Mat distance_maps[8];</span></div>
<div class="line"><a name="l00978"></a><span class="lineno">  978</span>&#160;  <span class="comment">//for (int map_index = 0; map_index &lt; 8; ++map_index)</span></div>
<div class="line"><a name="l00979"></a><span class="lineno">  979</span>&#160;  <span class="comment">//{</span></div>
<div class="line"><a name="l00980"></a><span class="lineno">  980</span>&#160;  <span class="comment">//  distance_maps[map_index] = ::cv::Mat::zeros(height, width, CV_8U);</span></div>
<div class="line"><a name="l00981"></a><span class="lineno">  981</span>&#160;  <span class="comment">//}</span></div>
<div class="line"><a name="l00982"></a><span class="lineno">  982</span>&#160; </div>
<div class="line"><a name="l00983"></a><span class="lineno">  983</span>&#160;  <a class="code" href="classpcl_1_1_mask_map.html">MaskMap</a> mask_maps[8];</div>
<div class="line"><a name="l00984"></a><span class="lineno">  984</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> map_index = 0; map_index &lt; 8; ++map_index)</div>
<div class="line"><a name="l00985"></a><span class="lineno">  985</span>&#160;    mask_maps[map_index].resize (width, height);</div>
<div class="line"><a name="l00986"></a><span class="lineno">  986</span>&#160; </div>
<div class="line"><a name="l00987"></a><span class="lineno">  987</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> map[255];</div>
<div class="line"><a name="l00988"></a><span class="lineno">  988</span>&#160;  memset(map, 0, 255);</div>
<div class="line"><a name="l00989"></a><span class="lineno">  989</span>&#160; </div>
<div class="line"><a name="l00990"></a><span class="lineno">  990</span>&#160;  map[0x1&lt;&lt;0] = 0;</div>
<div class="line"><a name="l00991"></a><span class="lineno">  991</span>&#160;  map[0x1&lt;&lt;1] = 1;</div>
<div class="line"><a name="l00992"></a><span class="lineno">  992</span>&#160;  map[0x1&lt;&lt;2] = 2;</div>
<div class="line"><a name="l00993"></a><span class="lineno">  993</span>&#160;  map[0x1&lt;&lt;3] = 3;</div>
<div class="line"><a name="l00994"></a><span class="lineno">  994</span>&#160;  map[0x1&lt;&lt;4] = 4;</div>
<div class="line"><a name="l00995"></a><span class="lineno">  995</span>&#160;  map[0x1&lt;&lt;5] = 5;</div>
<div class="line"><a name="l00996"></a><span class="lineno">  996</span>&#160;  map[0x1&lt;&lt;6] = 6;</div>
<div class="line"><a name="l00997"></a><span class="lineno">  997</span>&#160;  map[0x1&lt;&lt;7] = 7;</div>
<div class="line"><a name="l00998"></a><span class="lineno">  998</span>&#160; </div>
<div class="line"><a name="l00999"></a><span class="lineno">  999</span>&#160;  <a class="code" href="classpcl_1_1_quantized_map.html">QuantizedMap</a> distance_map_indices (width, height);</div>
<div class="line"><a name="l01000"></a><span class="lineno"> 1000</span>&#160;  <span class="comment">//memset (distance_map_indices.data, 0, sizeof (distance_map_indices.data[0])*width*height);</span></div>
<div class="line"><a name="l01001"></a><span class="lineno"> 1001</span>&#160; </div>
<div class="line"><a name="l01002"></a><span class="lineno"> 1002</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = 0; row_index &lt; height; ++row_index)</div>
<div class="line"><a name="l01003"></a><span class="lineno"> 1003</span>&#160;  {</div>
<div class="line"><a name="l01004"></a><span class="lineno"> 1004</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = 0; col_index &lt; width; ++col_index)</div>
<div class="line"><a name="l01005"></a><span class="lineno"> 1005</span>&#160;    {</div>
<div class="line"><a name="l01006"></a><span class="lineno"> 1006</span>&#160;      <span class="keywordflow">if</span> (mask (col_index, row_index) != 0)</div>
<div class="line"><a name="l01007"></a><span class="lineno"> 1007</span>&#160;      {</div>
<div class="line"><a name="l01008"></a><span class="lineno"> 1008</span>&#160;        <span class="comment">//const unsigned char quantized_value = quantized_surface_normals_ (row_index, col_index);</span></div>
<div class="line"><a name="l01009"></a><span class="lineno"> 1009</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> quantized_value = filtered_quantized_surface_normals_ (col_index, row_index);</div>
<div class="line"><a name="l01010"></a><span class="lineno"> 1010</span>&#160; </div>
<div class="line"><a name="l01011"></a><span class="lineno"> 1011</span>&#160;        <span class="keywordflow">if</span> (quantized_value == 0) </div>
<div class="line"><a name="l01012"></a><span class="lineno"> 1012</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l01013"></a><span class="lineno"> 1013</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">int</span> dist_map_index = map[quantized_value];</div>
<div class="line"><a name="l01014"></a><span class="lineno"> 1014</span>&#160; </div>
<div class="line"><a name="l01015"></a><span class="lineno"> 1015</span>&#160;        distance_map_indices (col_index, row_index) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (dist_map_index);</div>
<div class="line"><a name="l01016"></a><span class="lineno"> 1016</span>&#160;        <span class="comment">//distance_maps[dist_map_index].at&lt;unsigned char&gt;(row_index, col_index) = 255;</span></div>
<div class="line"><a name="l01017"></a><span class="lineno"> 1017</span>&#160;        mask_maps[dist_map_index] (col_index, row_index) = 255;</div>
<div class="line"><a name="l01018"></a><span class="lineno"> 1018</span>&#160;      }</div>
<div class="line"><a name="l01019"></a><span class="lineno"> 1019</span>&#160;    }</div>
<div class="line"><a name="l01020"></a><span class="lineno"> 1020</span>&#160;  }</div>
<div class="line"><a name="l01021"></a><span class="lineno"> 1021</span>&#160; </div>
<div class="line"><a name="l01022"></a><span class="lineno"> 1022</span>&#160;  <a class="code" href="classpcl_1_1_distance_map.html">DistanceMap</a> distance_maps[8];</div>
<div class="line"><a name="l01023"></a><span class="lineno"> 1023</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> map_index = 0; map_index &lt; 8; ++map_index)</div>
<div class="line"><a name="l01024"></a><span class="lineno"> 1024</span>&#160;    computeDistanceMap (mask_maps[map_index], distance_maps[map_index]);</div>
<div class="line"><a name="l01025"></a><span class="lineno"> 1025</span>&#160; </div>
<div class="line"><a name="l01026"></a><span class="lineno"> 1026</span>&#160;  <a class="code" href="classpcl_1_1_distance_map.html">DistanceMap</a> mask_distance_maps;</div>
<div class="line"><a name="l01027"></a><span class="lineno"> 1027</span>&#160;  computeDistanceMap (mask, mask_distance_maps);</div>
<div class="line"><a name="l01028"></a><span class="lineno"> 1028</span>&#160; </div>
<div class="line"><a name="l01029"></a><span class="lineno"> 1029</span>&#160;  std::list&lt;Candidate&gt; list1;</div>
<div class="line"><a name="l01030"></a><span class="lineno"> 1030</span>&#160;  std::list&lt;Candidate&gt; list2;</div>
<div class="line"><a name="l01031"></a><span class="lineno"> 1031</span>&#160; </div>
<div class="line"><a name="l01032"></a><span class="lineno"> 1032</span>&#160;  <span class="keywordtype">float</span> weights[8] = {0,0,0,0,0,0,0,0};</div>
<div class="line"><a name="l01033"></a><span class="lineno"> 1033</span>&#160; </div>
<div class="line"><a name="l01034"></a><span class="lineno"> 1034</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> off = 4;</div>
<div class="line"><a name="l01035"></a><span class="lineno"> 1035</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = off; row_index &lt; height-off; ++row_index)</div>
<div class="line"><a name="l01036"></a><span class="lineno"> 1036</span>&#160;  {</div>
<div class="line"><a name="l01037"></a><span class="lineno"> 1037</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = off; col_index &lt; width-off; ++col_index)</div>
<div class="line"><a name="l01038"></a><span class="lineno"> 1038</span>&#160;    {</div>
<div class="line"><a name="l01039"></a><span class="lineno"> 1039</span>&#160;      <span class="keywordflow">if</span> (mask (col_index, row_index) != 0)</div>
<div class="line"><a name="l01040"></a><span class="lineno"> 1040</span>&#160;      {</div>
<div class="line"><a name="l01041"></a><span class="lineno"> 1041</span>&#160;        <span class="comment">//const unsigned char quantized_value = quantized_surface_normals_ (row_index, col_index);</span></div>
<div class="line"><a name="l01042"></a><span class="lineno"> 1042</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> quantized_value = filtered_quantized_surface_normals_ (col_index, row_index);</div>
<div class="line"><a name="l01043"></a><span class="lineno"> 1043</span>&#160; </div>
<div class="line"><a name="l01044"></a><span class="lineno"> 1044</span>&#160;        <span class="comment">//const float nx = surface_normals_ (col_index, row_index).normal_x;</span></div>
<div class="line"><a name="l01045"></a><span class="lineno"> 1045</span>&#160;        <span class="comment">//const float ny = surface_normals_ (col_index, row_index).normal_y;</span></div>
<div class="line"><a name="l01046"></a><span class="lineno"> 1046</span>&#160;        <span class="comment">//const float nz = surface_normals_ (col_index, row_index).normal_z;</span></div>
<div class="line"><a name="l01047"></a><span class="lineno"> 1047</span>&#160; </div>
<div class="line"><a name="l01048"></a><span class="lineno"> 1048</span>&#160;        <span class="keywordflow">if</span> (quantized_value != 0)<span class="comment">// &amp;&amp; !(pcl_isnan (nx) || pcl_isnan (ny) || pcl_isnan (nz)))</span></div>
<div class="line"><a name="l01049"></a><span class="lineno"> 1049</span>&#160;        {</div>
<div class="line"><a name="l01050"></a><span class="lineno"> 1050</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">int</span> distance_map_index = map[quantized_value];</div>
<div class="line"><a name="l01051"></a><span class="lineno"> 1051</span>&#160; </div>
<div class="line"><a name="l01052"></a><span class="lineno"> 1052</span>&#160;          <span class="comment">//const float distance = distance_maps[distance_map_index].at&lt;float&gt; (row_index, col_index);</span></div>
<div class="line"><a name="l01053"></a><span class="lineno"> 1053</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> distance = distance_maps[distance_map_index] (col_index, row_index);</div>
<div class="line"><a name="l01054"></a><span class="lineno"> 1054</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> distance_to_border = mask_distance_maps (col_index, row_index);</div>
<div class="line"><a name="l01055"></a><span class="lineno"> 1055</span>&#160; </div>
<div class="line"><a name="l01056"></a><span class="lineno"> 1056</span>&#160;          <span class="keywordflow">if</span> (distance &gt;= feature_distance_threshold_ &amp;&amp; distance_to_border &gt;= min_distance_to_border_)</div>
<div class="line"><a name="l01057"></a><span class="lineno"> 1057</span>&#160;          {</div>
<div class="line"><a name="l01058"></a><span class="lineno"> 1058</span>&#160;            <a class="code" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html">Candidate</a> candidate;</div>
<div class="line"><a name="l01059"></a><span class="lineno"> 1059</span>&#160; </div>
<div class="line"><a name="l01060"></a><span class="lineno"> 1060</span>&#160;            candidate.<a class="code" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#a27db3c3a483fc4fb4df419fbc643c996">distance</a> = distance;</div>
<div class="line"><a name="l01061"></a><span class="lineno"> 1061</span>&#160;            candidate.<a class="code" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#a3d494817c873a9485cc88fd14c3e0948">x</a> = col_index;</div>
<div class="line"><a name="l01062"></a><span class="lineno"> 1062</span>&#160;            candidate.<a class="code" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#aba2d91bbb5969c4648dbf31c0246f2cd">y</a> = row_index;</div>
<div class="line"><a name="l01063"></a><span class="lineno"> 1063</span>&#160;            candidate.<a class="code" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#af2e406c33133a890c136fffce75c1d1d">bin_index</a> = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (distance_map_index);</div>
<div class="line"><a name="l01064"></a><span class="lineno"> 1064</span>&#160; </div>
<div class="line"><a name="l01065"></a><span class="lineno"> 1065</span>&#160;            list1.push_back (candidate);</div>
<div class="line"><a name="l01066"></a><span class="lineno"> 1066</span>&#160; </div>
<div class="line"><a name="l01067"></a><span class="lineno"> 1067</span>&#160;            ++weights[distance_map_index];</div>
<div class="line"><a name="l01068"></a><span class="lineno"> 1068</span>&#160;          }</div>
<div class="line"><a name="l01069"></a><span class="lineno"> 1069</span>&#160;        }</div>
<div class="line"><a name="l01070"></a><span class="lineno"> 1070</span>&#160;      }</div>
<div class="line"><a name="l01071"></a><span class="lineno"> 1071</span>&#160;    }</div>
<div class="line"><a name="l01072"></a><span class="lineno"> 1072</span>&#160;  }</div>
<div class="line"><a name="l01073"></a><span class="lineno"> 1073</span>&#160; </div>
<div class="line"><a name="l01074"></a><span class="lineno"> 1074</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter = list1.begin (); iter != list1.end (); ++iter)</div>
<div class="line"><a name="l01075"></a><span class="lineno"> 1075</span>&#160;    iter-&gt;distance *= 1.0f / weights[iter-&gt;bin_index];</div>
<div class="line"><a name="l01076"></a><span class="lineno"> 1076</span>&#160; </div>
<div class="line"><a name="l01077"></a><span class="lineno"> 1077</span>&#160;  list1.sort ();</div>
<div class="line"><a name="l01078"></a><span class="lineno"> 1078</span>&#160; </div>
<div class="line"><a name="l01079"></a><span class="lineno"> 1079</span>&#160;  <span class="keywordflow">if</span> (variable_feature_nr_)</div>
<div class="line"><a name="l01080"></a><span class="lineno"> 1080</span>&#160;  {</div>
<div class="line"><a name="l01081"></a><span class="lineno"> 1081</span>&#160;    <span class="keywordtype">int</span> distance = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (list1.size ());</div>
<div class="line"><a name="l01082"></a><span class="lineno"> 1082</span>&#160;    <span class="keywordtype">bool</span> feature_selection_finished = <span class="keyword">false</span>;</div>
<div class="line"><a name="l01083"></a><span class="lineno"> 1083</span>&#160;    <span class="keywordflow">while</span> (!feature_selection_finished)</div>
<div class="line"><a name="l01084"></a><span class="lineno"> 1084</span>&#160;    {</div>
<div class="line"><a name="l01085"></a><span class="lineno"> 1085</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> sqr_distance = distance*distance;</div>
<div class="line"><a name="l01086"></a><span class="lineno"> 1086</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter1 = list1.begin (); iter1 != list1.end (); ++iter1)</div>
<div class="line"><a name="l01087"></a><span class="lineno"> 1087</span>&#160;      {</div>
<div class="line"><a name="l01088"></a><span class="lineno"> 1088</span>&#160;        <span class="keywordtype">bool</span> candidate_accepted = <span class="keyword">true</span>;</div>
<div class="line"><a name="l01089"></a><span class="lineno"> 1089</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter2 = list2.begin (); iter2 != list2.end (); ++iter2)</div>
<div class="line"><a name="l01090"></a><span class="lineno"> 1090</span>&#160;        {</div>
<div class="line"><a name="l01091"></a><span class="lineno"> 1091</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">int</span> dx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter1-&gt;x) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter2-&gt;x);</div>
<div class="line"><a name="l01092"></a><span class="lineno"> 1092</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">int</span> dy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter1-&gt;y) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter2-&gt;y);</div>
<div class="line"><a name="l01093"></a><span class="lineno"> 1093</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">int</span> tmp_distance = dx*dx + dy*dy;</div>
<div class="line"><a name="l01094"></a><span class="lineno"> 1094</span>&#160; </div>
<div class="line"><a name="l01095"></a><span class="lineno"> 1095</span>&#160;          <span class="keywordflow">if</span> (tmp_distance &lt; sqr_distance)</div>
<div class="line"><a name="l01096"></a><span class="lineno"> 1096</span>&#160;          {</div>
<div class="line"><a name="l01097"></a><span class="lineno"> 1097</span>&#160;            candidate_accepted = <span class="keyword">false</span>;</div>
<div class="line"><a name="l01098"></a><span class="lineno"> 1098</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l01099"></a><span class="lineno"> 1099</span>&#160;          }</div>
<div class="line"><a name="l01100"></a><span class="lineno"> 1100</span>&#160;        }</div>
<div class="line"><a name="l01101"></a><span class="lineno"> 1101</span>&#160; </div>
<div class="line"><a name="l01102"></a><span class="lineno"> 1102</span>&#160; </div>
<div class="line"><a name="l01103"></a><span class="lineno"> 1103</span>&#160;        <span class="keywordtype">float</span> min_min_sqr_distance = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l01104"></a><span class="lineno"> 1104</span>&#160;        <span class="keywordtype">float</span> max_min_sqr_distance = 0;</div>
<div class="line"><a name="l01105"></a><span class="lineno"> 1105</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter2 = list2.begin (); iter2 != list2.end (); ++iter2)</div>
<div class="line"><a name="l01106"></a><span class="lineno"> 1106</span>&#160;        {</div>
<div class="line"><a name="l01107"></a><span class="lineno"> 1107</span>&#160;          <span class="keywordtype">float</span> min_sqr_distance = std::numeric_limits&lt;float&gt;::max ();</div>
<div class="line"><a name="l01108"></a><span class="lineno"> 1108</span>&#160;          <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter3 = list2.begin (); iter3 != list2.end (); ++iter3)</div>
<div class="line"><a name="l01109"></a><span class="lineno"> 1109</span>&#160;          {</div>
<div class="line"><a name="l01110"></a><span class="lineno"> 1110</span>&#160;            <span class="keywordflow">if</span> (iter2 == iter3)</div>
<div class="line"><a name="l01111"></a><span class="lineno"> 1111</span>&#160;              <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l01112"></a><span class="lineno"> 1112</span>&#160; </div>
<div class="line"><a name="l01113"></a><span class="lineno"> 1113</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> dx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter2-&gt;x) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter3-&gt;x);</div>
<div class="line"><a name="l01114"></a><span class="lineno"> 1114</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> dy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter2-&gt;y) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter3-&gt;y);</div>
<div class="line"><a name="l01115"></a><span class="lineno"> 1115</span>&#160; </div>
<div class="line"><a name="l01116"></a><span class="lineno"> 1116</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> sqr_distance = dx*dx + dy*dy;</div>
<div class="line"><a name="l01117"></a><span class="lineno"> 1117</span>&#160; </div>
<div class="line"><a name="l01118"></a><span class="lineno"> 1118</span>&#160;            <span class="keywordflow">if</span> (sqr_distance &lt; min_sqr_distance)</div>
<div class="line"><a name="l01119"></a><span class="lineno"> 1119</span>&#160;            {</div>
<div class="line"><a name="l01120"></a><span class="lineno"> 1120</span>&#160;              min_sqr_distance = sqr_distance;</div>
<div class="line"><a name="l01121"></a><span class="lineno"> 1121</span>&#160;            }</div>
<div class="line"><a name="l01122"></a><span class="lineno"> 1122</span>&#160; </div>
<div class="line"><a name="l01123"></a><span class="lineno"> 1123</span>&#160;            <span class="comment">//std::cerr &lt;&lt; min_sqr_distance;</span></div>
<div class="line"><a name="l01124"></a><span class="lineno"> 1124</span>&#160;          }</div>
<div class="line"><a name="l01125"></a><span class="lineno"> 1125</span>&#160;          <span class="comment">//std::cerr &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l01126"></a><span class="lineno"> 1126</span>&#160; </div>
<div class="line"><a name="l01127"></a><span class="lineno"> 1127</span>&#160;          <span class="comment">// check current feature</span></div>
<div class="line"><a name="l01128"></a><span class="lineno"> 1128</span>&#160;          {</div>
<div class="line"><a name="l01129"></a><span class="lineno"> 1129</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> dx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter2-&gt;x) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter1-&gt;x);</div>
<div class="line"><a name="l01130"></a><span class="lineno"> 1130</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> dy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter2-&gt;y) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (iter1-&gt;y);</div>
<div class="line"><a name="l01131"></a><span class="lineno"> 1131</span>&#160; </div>
<div class="line"><a name="l01132"></a><span class="lineno"> 1132</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span> sqr_distance = dx*dx + dy*dy;</div>
<div class="line"><a name="l01133"></a><span class="lineno"> 1133</span>&#160; </div>
<div class="line"><a name="l01134"></a><span class="lineno"> 1134</span>&#160;            <span class="keywordflow">if</span> (sqr_distance &lt; min_sqr_distance)</div>
<div class="line"><a name="l01135"></a><span class="lineno"> 1135</span>&#160;            {</div>
<div class="line"><a name="l01136"></a><span class="lineno"> 1136</span>&#160;              min_sqr_distance = sqr_distance;</div>
<div class="line"><a name="l01137"></a><span class="lineno"> 1137</span>&#160;            }</div>
<div class="line"><a name="l01138"></a><span class="lineno"> 1138</span>&#160;          }</div>
<div class="line"><a name="l01139"></a><span class="lineno"> 1139</span>&#160; </div>
<div class="line"><a name="l01140"></a><span class="lineno"> 1140</span>&#160;          <span class="keywordflow">if</span> (min_sqr_distance &lt; min_min_sqr_distance)</div>
<div class="line"><a name="l01141"></a><span class="lineno"> 1141</span>&#160;            min_min_sqr_distance = min_sqr_distance;</div>
<div class="line"><a name="l01142"></a><span class="lineno"> 1142</span>&#160;          <span class="keywordflow">if</span> (min_sqr_distance &gt; max_min_sqr_distance)</div>
<div class="line"><a name="l01143"></a><span class="lineno"> 1143</span>&#160;            max_min_sqr_distance = min_sqr_distance;</div>
<div class="line"><a name="l01144"></a><span class="lineno"> 1144</span>&#160; </div>
<div class="line"><a name="l01145"></a><span class="lineno"> 1145</span>&#160;          <span class="comment">//std::cerr &lt;&lt; min_sqr_distance &lt;&lt; &quot;, &quot; &lt;&lt; min_min_sqr_distance &lt;&lt; &quot;, &quot; &lt;&lt; max_min_sqr_distance &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l01146"></a><span class="lineno"> 1146</span>&#160;        }</div>
<div class="line"><a name="l01147"></a><span class="lineno"> 1147</span>&#160; </div>
<div class="line"><a name="l01148"></a><span class="lineno"> 1148</span>&#160;        <span class="keywordflow">if</span> (candidate_accepted)</div>
<div class="line"><a name="l01149"></a><span class="lineno"> 1149</span>&#160;        {</div>
<div class="line"><a name="l01150"></a><span class="lineno"> 1150</span>&#160;          <span class="comment">//std::cerr &lt;&lt; &quot;feature_index: &quot; &lt;&lt; list2.size () &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l01151"></a><span class="lineno"> 1151</span>&#160;          <span class="comment">//std::cerr &lt;&lt; &quot;min_min_sqr_distance: &quot; &lt;&lt; min_min_sqr_distance &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l01152"></a><span class="lineno"> 1152</span>&#160;          <span class="comment">//std::cerr &lt;&lt; &quot;max_min_sqr_distance: &quot; &lt;&lt; max_min_sqr_distance &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l01153"></a><span class="lineno"> 1153</span>&#160; </div>
<div class="line"><a name="l01154"></a><span class="lineno"> 1154</span>&#160;          <span class="keywordflow">if</span> (min_min_sqr_distance &lt; 50)</div>
<div class="line"><a name="l01155"></a><span class="lineno"> 1155</span>&#160;          {</div>
<div class="line"><a name="l01156"></a><span class="lineno"> 1156</span>&#160;            feature_selection_finished = <span class="keyword">true</span>;</div>
<div class="line"><a name="l01157"></a><span class="lineno"> 1157</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l01158"></a><span class="lineno"> 1158</span>&#160;          }</div>
<div class="line"><a name="l01159"></a><span class="lineno"> 1159</span>&#160; </div>
<div class="line"><a name="l01160"></a><span class="lineno"> 1160</span>&#160;          list2.push_back (*iter1);</div>
<div class="line"><a name="l01161"></a><span class="lineno"> 1161</span>&#160;        }</div>
<div class="line"><a name="l01162"></a><span class="lineno"> 1162</span>&#160; </div>
<div class="line"><a name="l01163"></a><span class="lineno"> 1163</span>&#160;        <span class="comment">//if (list2.size () == nr_features) </span></div>
<div class="line"><a name="l01164"></a><span class="lineno"> 1164</span>&#160;        <span class="comment">//{</span></div>
<div class="line"><a name="l01165"></a><span class="lineno"> 1165</span>&#160;        <span class="comment">//  feature_selection_finished = true;</span></div>
<div class="line"><a name="l01166"></a><span class="lineno"> 1166</span>&#160;        <span class="comment">//  break;</span></div>
<div class="line"><a name="l01167"></a><span class="lineno"> 1167</span>&#160;        <span class="comment">//}</span></div>
<div class="line"><a name="l01168"></a><span class="lineno"> 1168</span>&#160;      }</div>
<div class="line"><a name="l01169"></a><span class="lineno"> 1169</span>&#160;      --distance;</div>
<div class="line"><a name="l01170"></a><span class="lineno"> 1170</span>&#160;    }</div>
<div class="line"><a name="l01171"></a><span class="lineno"> 1171</span>&#160;  }</div>
<div class="line"><a name="l01172"></a><span class="lineno"> 1172</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l01173"></a><span class="lineno"> 1173</span>&#160;  {</div>
<div class="line"><a name="l01174"></a><span class="lineno"> 1174</span>&#160;    <span class="keywordflow">if</span> (list1.size () &lt;= nr_features)</div>
<div class="line"><a name="l01175"></a><span class="lineno"> 1175</span>&#160;    {</div>
<div class="line"><a name="l01176"></a><span class="lineno"> 1176</span>&#160;      features.reserve (list1.size ());</div>
<div class="line"><a name="l01177"></a><span class="lineno"> 1177</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter = list1.begin (); iter != list1.end (); ++iter)</div>
<div class="line"><a name="l01178"></a><span class="lineno"> 1178</span>&#160;      {</div>
<div class="line"><a name="l01179"></a><span class="lineno"> 1179</span>&#160;        <a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html">QuantizedMultiModFeature</a> feature;</div>
<div class="line"><a name="l01180"></a><span class="lineno"> 1180</span>&#160; </div>
<div class="line"><a name="l01181"></a><span class="lineno"> 1181</span>&#160;        feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#a4738f0df69322f7d10ff08ea9f78436f">x</a> = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter-&gt;x);</div>
<div class="line"><a name="l01182"></a><span class="lineno"> 1182</span>&#160;        feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#accb11ae888160446c94d0b30aafd222e">y</a> = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter-&gt;y);</div>
<div class="line"><a name="l01183"></a><span class="lineno"> 1183</span>&#160;        feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#ac64b7a232a4526c6f67b4ae6195d4149">modality_index</a> = modality_index;</div>
<div class="line"><a name="l01184"></a><span class="lineno"> 1184</span>&#160;        feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#aaa0d24e187cac516ee374d8aeda17a6e">quantized_value</a> = filtered_quantized_surface_normals_ (iter-&gt;x, iter-&gt;y);</div>
<div class="line"><a name="l01185"></a><span class="lineno"> 1185</span>&#160; </div>
<div class="line"><a name="l01186"></a><span class="lineno"> 1186</span>&#160;        features.push_back (feature);</div>
<div class="line"><a name="l01187"></a><span class="lineno"> 1187</span>&#160;      }</div>
<div class="line"><a name="l01188"></a><span class="lineno"> 1188</span>&#160; </div>
<div class="line"><a name="l01189"></a><span class="lineno"> 1189</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l01190"></a><span class="lineno"> 1190</span>&#160;    }</div>
<div class="line"><a name="l01191"></a><span class="lineno"> 1191</span>&#160; </div>
<div class="line"><a name="l01192"></a><span class="lineno"> 1192</span>&#160;    <span class="keywordtype">int</span> distance = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (list1.size () / nr_features + 1); <span class="comment">// ???  @todo:!:!:!:!:!:!</span></div>
<div class="line"><a name="l01193"></a><span class="lineno"> 1193</span>&#160;    <span class="keywordflow">while</span> (list2.size () != nr_features)</div>
<div class="line"><a name="l01194"></a><span class="lineno"> 1194</span>&#160;    {</div>
<div class="line"><a name="l01195"></a><span class="lineno"> 1195</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">int</span> sqr_distance = distance*distance;</div>
<div class="line"><a name="l01196"></a><span class="lineno"> 1196</span>&#160;      <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter1 = list1.begin (); iter1 != list1.end (); ++iter1)</div>
<div class="line"><a name="l01197"></a><span class="lineno"> 1197</span>&#160;      {</div>
<div class="line"><a name="l01198"></a><span class="lineno"> 1198</span>&#160;        <span class="keywordtype">bool</span> candidate_accepted = <span class="keyword">true</span>;</div>
<div class="line"><a name="l01199"></a><span class="lineno"> 1199</span>&#160; </div>
<div class="line"><a name="l01200"></a><span class="lineno"> 1200</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter2 = list2.begin (); iter2 != list2.end (); ++iter2)</div>
<div class="line"><a name="l01201"></a><span class="lineno"> 1201</span>&#160;        {</div>
<div class="line"><a name="l01202"></a><span class="lineno"> 1202</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">int</span> dx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter1-&gt;x) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter2-&gt;x);</div>
<div class="line"><a name="l01203"></a><span class="lineno"> 1203</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">int</span> dy = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter1-&gt;y) - <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter2-&gt;y);</div>
<div class="line"><a name="l01204"></a><span class="lineno"> 1204</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">int</span> tmp_distance = dx*dx + dy*dy;</div>
<div class="line"><a name="l01205"></a><span class="lineno"> 1205</span>&#160; </div>
<div class="line"><a name="l01206"></a><span class="lineno"> 1206</span>&#160;          <span class="keywordflow">if</span> (tmp_distance &lt; sqr_distance)</div>
<div class="line"><a name="l01207"></a><span class="lineno"> 1207</span>&#160;          {</div>
<div class="line"><a name="l01208"></a><span class="lineno"> 1208</span>&#160;            candidate_accepted = <span class="keyword">false</span>;</div>
<div class="line"><a name="l01209"></a><span class="lineno"> 1209</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l01210"></a><span class="lineno"> 1210</span>&#160;          }</div>
<div class="line"><a name="l01211"></a><span class="lineno"> 1211</span>&#160;        }</div>
<div class="line"><a name="l01212"></a><span class="lineno"> 1212</span>&#160; </div>
<div class="line"><a name="l01213"></a><span class="lineno"> 1213</span>&#160;        <span class="keywordflow">if</span> (candidate_accepted)</div>
<div class="line"><a name="l01214"></a><span class="lineno"> 1214</span>&#160;          list2.push_back (*iter1);</div>
<div class="line"><a name="l01215"></a><span class="lineno"> 1215</span>&#160; </div>
<div class="line"><a name="l01216"></a><span class="lineno"> 1216</span>&#160;        <span class="keywordflow">if</span> (list2.size () == nr_features) <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l01217"></a><span class="lineno"> 1217</span>&#160;      }</div>
<div class="line"><a name="l01218"></a><span class="lineno"> 1218</span>&#160;      --distance;</div>
<div class="line"><a name="l01219"></a><span class="lineno"> 1219</span>&#160;    }</div>
<div class="line"><a name="l01220"></a><span class="lineno"> 1220</span>&#160;  }</div>
<div class="line"><a name="l01221"></a><span class="lineno"> 1221</span>&#160; </div>
<div class="line"><a name="l01222"></a><span class="lineno"> 1222</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter2 = list2.begin (); iter2 != list2.end (); ++iter2)</div>
<div class="line"><a name="l01223"></a><span class="lineno"> 1223</span>&#160;  {</div>
<div class="line"><a name="l01224"></a><span class="lineno"> 1224</span>&#160;    <a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html">QuantizedMultiModFeature</a> feature;</div>
<div class="line"><a name="l01225"></a><span class="lineno"> 1225</span>&#160; </div>
<div class="line"><a name="l01226"></a><span class="lineno"> 1226</span>&#160;    feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#a4738f0df69322f7d10ff08ea9f78436f">x</a> = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter2-&gt;x);</div>
<div class="line"><a name="l01227"></a><span class="lineno"> 1227</span>&#160;    feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#accb11ae888160446c94d0b30aafd222e">y</a> = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter2-&gt;y);</div>
<div class="line"><a name="l01228"></a><span class="lineno"> 1228</span>&#160;    feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#ac64b7a232a4526c6f67b4ae6195d4149">modality_index</a> = modality_index;</div>
<div class="line"><a name="l01229"></a><span class="lineno"> 1229</span>&#160;    feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#aaa0d24e187cac516ee374d8aeda17a6e">quantized_value</a> = filtered_quantized_surface_normals_ (iter2-&gt;x, iter2-&gt;y);</div>
<div class="line"><a name="l01230"></a><span class="lineno"> 1230</span>&#160; </div>
<div class="line"><a name="l01231"></a><span class="lineno"> 1231</span>&#160;    features.push_back (feature);</div>
<div class="line"><a name="l01232"></a><span class="lineno"> 1232</span>&#160;  }</div>
<div class="line"><a name="l01233"></a><span class="lineno"> 1233</span>&#160;}</div>
<div class="line"><a name="l01234"></a><span class="lineno"> 1234</span>&#160; </div>
<div class="line"><a name="l01236"></a><span class="lineno"> 1236</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l01237"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#af31077712cfe8911bd9627f79ab3782f"> 1237</a></span>&#160;<a class="code" href="classpcl_1_1_surface_normal_modality.html#af31077712cfe8911bd9627f79ab3782f">pcl::SurfaceNormalModality&lt;PointInT&gt;::extractAllFeatures</a> (</div>
<div class="line"><a name="l01238"></a><span class="lineno"> 1238</span>&#160;    <span class="keyword">const</span> <a class="code" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp; mask, <span class="keyword">const</span> <span class="keywordtype">size_t</span>, <span class="keyword">const</span> <span class="keywordtype">size_t</span> modality_index,</div>
<div class="line"><a name="l01239"></a><span class="lineno"> 1239</span>&#160;    std::vector&lt;QuantizedMultiModFeature&gt; &amp; features)<span class="keyword"> const</span></div>
<div class="line"><a name="l01240"></a><span class="lineno"> 1240</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l01241"></a><span class="lineno"> 1241</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> width = mask.getWidth ();</div>
<div class="line"><a name="l01242"></a><span class="lineno"> 1242</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> height = mask.getHeight ();</div>
<div class="line"><a name="l01243"></a><span class="lineno"> 1243</span>&#160; </div>
<div class="line"><a name="l01244"></a><span class="lineno"> 1244</span>&#160;  <span class="comment">//cv::Mat maskImage(height, width, CV_8U, mask.mask);</span></div>
<div class="line"><a name="l01245"></a><span class="lineno"> 1245</span>&#160;  <span class="comment">//cv::erode(maskImage, maskImage</span></div>
<div class="line"><a name="l01246"></a><span class="lineno"> 1246</span>&#160; </div>
<div class="line"><a name="l01247"></a><span class="lineno"> 1247</span>&#160;  <span class="comment">// create distance maps for every quantization value</span></div>
<div class="line"><a name="l01248"></a><span class="lineno"> 1248</span>&#160;  <span class="comment">//cv::Mat distance_maps[8];</span></div>
<div class="line"><a name="l01249"></a><span class="lineno"> 1249</span>&#160;  <span class="comment">//for (int map_index = 0; map_index &lt; 8; ++map_index)</span></div>
<div class="line"><a name="l01250"></a><span class="lineno"> 1250</span>&#160;  <span class="comment">//{</span></div>
<div class="line"><a name="l01251"></a><span class="lineno"> 1251</span>&#160;  <span class="comment">//  distance_maps[map_index] = ::cv::Mat::zeros(height, width, CV_8U);</span></div>
<div class="line"><a name="l01252"></a><span class="lineno"> 1252</span>&#160;  <span class="comment">//}</span></div>
<div class="line"><a name="l01253"></a><span class="lineno"> 1253</span>&#160; </div>
<div class="line"><a name="l01254"></a><span class="lineno"> 1254</span>&#160;  <a class="code" href="classpcl_1_1_mask_map.html">MaskMap</a> mask_maps[8];</div>
<div class="line"><a name="l01255"></a><span class="lineno"> 1255</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> map_index = 0; map_index &lt; 8; ++map_index)</div>
<div class="line"><a name="l01256"></a><span class="lineno"> 1256</span>&#160;    mask_maps[map_index].resize (width, height);</div>
<div class="line"><a name="l01257"></a><span class="lineno"> 1257</span>&#160; </div>
<div class="line"><a name="l01258"></a><span class="lineno"> 1258</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> map[255];</div>
<div class="line"><a name="l01259"></a><span class="lineno"> 1259</span>&#160;  memset(map, 0, 255);</div>
<div class="line"><a name="l01260"></a><span class="lineno"> 1260</span>&#160; </div>
<div class="line"><a name="l01261"></a><span class="lineno"> 1261</span>&#160;  map[0x1&lt;&lt;0] = 0;</div>
<div class="line"><a name="l01262"></a><span class="lineno"> 1262</span>&#160;  map[0x1&lt;&lt;1] = 1;</div>
<div class="line"><a name="l01263"></a><span class="lineno"> 1263</span>&#160;  map[0x1&lt;&lt;2] = 2;</div>
<div class="line"><a name="l01264"></a><span class="lineno"> 1264</span>&#160;  map[0x1&lt;&lt;3] = 3;</div>
<div class="line"><a name="l01265"></a><span class="lineno"> 1265</span>&#160;  map[0x1&lt;&lt;4] = 4;</div>
<div class="line"><a name="l01266"></a><span class="lineno"> 1266</span>&#160;  map[0x1&lt;&lt;5] = 5;</div>
<div class="line"><a name="l01267"></a><span class="lineno"> 1267</span>&#160;  map[0x1&lt;&lt;6] = 6;</div>
<div class="line"><a name="l01268"></a><span class="lineno"> 1268</span>&#160;  map[0x1&lt;&lt;7] = 7;</div>
<div class="line"><a name="l01269"></a><span class="lineno"> 1269</span>&#160; </div>
<div class="line"><a name="l01270"></a><span class="lineno"> 1270</span>&#160;  <a class="code" href="classpcl_1_1_quantized_map.html">QuantizedMap</a> distance_map_indices (width, height);</div>
<div class="line"><a name="l01271"></a><span class="lineno"> 1271</span>&#160;  <span class="comment">//memset (distance_map_indices.data, 0, sizeof (distance_map_indices.data[0])*width*height);</span></div>
<div class="line"><a name="l01272"></a><span class="lineno"> 1272</span>&#160; </div>
<div class="line"><a name="l01273"></a><span class="lineno"> 1273</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = 0; row_index &lt; height; ++row_index)</div>
<div class="line"><a name="l01274"></a><span class="lineno"> 1274</span>&#160;  {</div>
<div class="line"><a name="l01275"></a><span class="lineno"> 1275</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = 0; col_index &lt; width; ++col_index)</div>
<div class="line"><a name="l01276"></a><span class="lineno"> 1276</span>&#160;    {</div>
<div class="line"><a name="l01277"></a><span class="lineno"> 1277</span>&#160;      <span class="keywordflow">if</span> (mask (col_index, row_index) != 0)</div>
<div class="line"><a name="l01278"></a><span class="lineno"> 1278</span>&#160;      {</div>
<div class="line"><a name="l01279"></a><span class="lineno"> 1279</span>&#160;        <span class="comment">//const unsigned char quantized_value = quantized_surface_normals_ (row_index, col_index);</span></div>
<div class="line"><a name="l01280"></a><span class="lineno"> 1280</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> quantized_value = filtered_quantized_surface_normals_ (col_index, row_index);</div>
<div class="line"><a name="l01281"></a><span class="lineno"> 1281</span>&#160; </div>
<div class="line"><a name="l01282"></a><span class="lineno"> 1282</span>&#160;        <span class="keywordflow">if</span> (quantized_value == 0) </div>
<div class="line"><a name="l01283"></a><span class="lineno"> 1283</span>&#160;          <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l01284"></a><span class="lineno"> 1284</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">int</span> dist_map_index = map[quantized_value];</div>
<div class="line"><a name="l01285"></a><span class="lineno"> 1285</span>&#160; </div>
<div class="line"><a name="l01286"></a><span class="lineno"> 1286</span>&#160;        distance_map_indices (col_index, row_index) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (dist_map_index);</div>
<div class="line"><a name="l01287"></a><span class="lineno"> 1287</span>&#160;        <span class="comment">//distance_maps[dist_map_index].at&lt;unsigned char&gt;(row_index, col_index) = 255;</span></div>
<div class="line"><a name="l01288"></a><span class="lineno"> 1288</span>&#160;        mask_maps[dist_map_index] (col_index, row_index) = 255;</div>
<div class="line"><a name="l01289"></a><span class="lineno"> 1289</span>&#160;      }</div>
<div class="line"><a name="l01290"></a><span class="lineno"> 1290</span>&#160;    }</div>
<div class="line"><a name="l01291"></a><span class="lineno"> 1291</span>&#160;  }</div>
<div class="line"><a name="l01292"></a><span class="lineno"> 1292</span>&#160; </div>
<div class="line"><a name="l01293"></a><span class="lineno"> 1293</span>&#160;  <a class="code" href="classpcl_1_1_distance_map.html">DistanceMap</a> distance_maps[8];</div>
<div class="line"><a name="l01294"></a><span class="lineno"> 1294</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> map_index = 0; map_index &lt; 8; ++map_index)</div>
<div class="line"><a name="l01295"></a><span class="lineno"> 1295</span>&#160;    computeDistanceMap (mask_maps[map_index], distance_maps[map_index]);</div>
<div class="line"><a name="l01296"></a><span class="lineno"> 1296</span>&#160; </div>
<div class="line"><a name="l01297"></a><span class="lineno"> 1297</span>&#160;  <a class="code" href="classpcl_1_1_distance_map.html">DistanceMap</a> mask_distance_maps;</div>
<div class="line"><a name="l01298"></a><span class="lineno"> 1298</span>&#160;  computeDistanceMap (mask, mask_distance_maps);</div>
<div class="line"><a name="l01299"></a><span class="lineno"> 1299</span>&#160; </div>
<div class="line"><a name="l01300"></a><span class="lineno"> 1300</span>&#160;  std::list&lt;Candidate&gt; list1;</div>
<div class="line"><a name="l01301"></a><span class="lineno"> 1301</span>&#160;  std::list&lt;Candidate&gt; list2;</div>
<div class="line"><a name="l01302"></a><span class="lineno"> 1302</span>&#160; </div>
<div class="line"><a name="l01303"></a><span class="lineno"> 1303</span>&#160;  <span class="keywordtype">float</span> weights[8] = {0,0,0,0,0,0,0,0};</div>
<div class="line"><a name="l01304"></a><span class="lineno"> 1304</span>&#160; </div>
<div class="line"><a name="l01305"></a><span class="lineno"> 1305</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> off = 4;</div>
<div class="line"><a name="l01306"></a><span class="lineno"> 1306</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = off; row_index &lt; height-off; ++row_index)</div>
<div class="line"><a name="l01307"></a><span class="lineno"> 1307</span>&#160;  {</div>
<div class="line"><a name="l01308"></a><span class="lineno"> 1308</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = off; col_index &lt; width-off; ++col_index)</div>
<div class="line"><a name="l01309"></a><span class="lineno"> 1309</span>&#160;    {</div>
<div class="line"><a name="l01310"></a><span class="lineno"> 1310</span>&#160;      <span class="keywordflow">if</span> (mask (col_index, row_index) != 0)</div>
<div class="line"><a name="l01311"></a><span class="lineno"> 1311</span>&#160;      {</div>
<div class="line"><a name="l01312"></a><span class="lineno"> 1312</span>&#160;        <span class="comment">//const unsigned char quantized_value = quantized_surface_normals_ (row_index, col_index);</span></div>
<div class="line"><a name="l01313"></a><span class="lineno"> 1313</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> quantized_value = filtered_quantized_surface_normals_ (col_index, row_index);</div>
<div class="line"><a name="l01314"></a><span class="lineno"> 1314</span>&#160; </div>
<div class="line"><a name="l01315"></a><span class="lineno"> 1315</span>&#160;        <span class="comment">//const float nx = surface_normals_ (col_index, row_index).normal_x;</span></div>
<div class="line"><a name="l01316"></a><span class="lineno"> 1316</span>&#160;        <span class="comment">//const float ny = surface_normals_ (col_index, row_index).normal_y;</span></div>
<div class="line"><a name="l01317"></a><span class="lineno"> 1317</span>&#160;        <span class="comment">//const float nz = surface_normals_ (col_index, row_index).normal_z;</span></div>
<div class="line"><a name="l01318"></a><span class="lineno"> 1318</span>&#160; </div>
<div class="line"><a name="l01319"></a><span class="lineno"> 1319</span>&#160;        <span class="keywordflow">if</span> (quantized_value != 0)<span class="comment">// &amp;&amp; !(pcl_isnan (nx) || pcl_isnan (ny) || pcl_isnan (nz)))</span></div>
<div class="line"><a name="l01320"></a><span class="lineno"> 1320</span>&#160;        {</div>
<div class="line"><a name="l01321"></a><span class="lineno"> 1321</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">int</span> distance_map_index = map[quantized_value];</div>
<div class="line"><a name="l01322"></a><span class="lineno"> 1322</span>&#160; </div>
<div class="line"><a name="l01323"></a><span class="lineno"> 1323</span>&#160;          <span class="comment">//const float distance = distance_maps[distance_map_index].at&lt;float&gt; (row_index, col_index);</span></div>
<div class="line"><a name="l01324"></a><span class="lineno"> 1324</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> distance = distance_maps[distance_map_index] (col_index, row_index);</div>
<div class="line"><a name="l01325"></a><span class="lineno"> 1325</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">float</span> distance_to_border = mask_distance_maps (col_index, row_index);</div>
<div class="line"><a name="l01326"></a><span class="lineno"> 1326</span>&#160; </div>
<div class="line"><a name="l01327"></a><span class="lineno"> 1327</span>&#160;          <span class="keywordflow">if</span> (distance &gt;= feature_distance_threshold_ &amp;&amp; distance_to_border &gt;= min_distance_to_border_)</div>
<div class="line"><a name="l01328"></a><span class="lineno"> 1328</span>&#160;          {</div>
<div class="line"><a name="l01329"></a><span class="lineno"> 1329</span>&#160;            <a class="code" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html">Candidate</a> candidate;</div>
<div class="line"><a name="l01330"></a><span class="lineno"> 1330</span>&#160; </div>
<div class="line"><a name="l01331"></a><span class="lineno"> 1331</span>&#160;            candidate.<a class="code" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#a27db3c3a483fc4fb4df419fbc643c996">distance</a> = distance;</div>
<div class="line"><a name="l01332"></a><span class="lineno"> 1332</span>&#160;            candidate.<a class="code" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#a3d494817c873a9485cc88fd14c3e0948">x</a> = col_index;</div>
<div class="line"><a name="l01333"></a><span class="lineno"> 1333</span>&#160;            candidate.<a class="code" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#aba2d91bbb5969c4648dbf31c0246f2cd">y</a> = row_index;</div>
<div class="line"><a name="l01334"></a><span class="lineno"> 1334</span>&#160;            candidate.<a class="code" href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#af2e406c33133a890c136fffce75c1d1d">bin_index</a> = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (distance_map_index);</div>
<div class="line"><a name="l01335"></a><span class="lineno"> 1335</span>&#160; </div>
<div class="line"><a name="l01336"></a><span class="lineno"> 1336</span>&#160;            list1.push_back (candidate);</div>
<div class="line"><a name="l01337"></a><span class="lineno"> 1337</span>&#160; </div>
<div class="line"><a name="l01338"></a><span class="lineno"> 1338</span>&#160;            ++weights[distance_map_index];</div>
<div class="line"><a name="l01339"></a><span class="lineno"> 1339</span>&#160;          }</div>
<div class="line"><a name="l01340"></a><span class="lineno"> 1340</span>&#160;        }</div>
<div class="line"><a name="l01341"></a><span class="lineno"> 1341</span>&#160;      }</div>
<div class="line"><a name="l01342"></a><span class="lineno"> 1342</span>&#160;    }</div>
<div class="line"><a name="l01343"></a><span class="lineno"> 1343</span>&#160;  }</div>
<div class="line"><a name="l01344"></a><span class="lineno"> 1344</span>&#160; </div>
<div class="line"><a name="l01345"></a><span class="lineno"> 1345</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter = list1.begin (); iter != list1.end (); ++iter)</div>
<div class="line"><a name="l01346"></a><span class="lineno"> 1346</span>&#160;    iter-&gt;distance *= 1.0f / weights[iter-&gt;bin_index];</div>
<div class="line"><a name="l01347"></a><span class="lineno"> 1347</span>&#160; </div>
<div class="line"><a name="l01348"></a><span class="lineno"> 1348</span>&#160;  list1.sort ();</div>
<div class="line"><a name="l01349"></a><span class="lineno"> 1349</span>&#160; </div>
<div class="line"><a name="l01350"></a><span class="lineno"> 1350</span>&#160;  features.reserve (list1.size ());</div>
<div class="line"><a name="l01351"></a><span class="lineno"> 1351</span>&#160;  <span class="keywordflow">for</span> (<span class="keyword">typename</span> std::list&lt;Candidate&gt;::iterator iter = list1.begin (); iter != list1.end (); ++iter)</div>
<div class="line"><a name="l01352"></a><span class="lineno"> 1352</span>&#160;  {</div>
<div class="line"><a name="l01353"></a><span class="lineno"> 1353</span>&#160;    <a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html">QuantizedMultiModFeature</a> feature;</div>
<div class="line"><a name="l01354"></a><span class="lineno"> 1354</span>&#160; </div>
<div class="line"><a name="l01355"></a><span class="lineno"> 1355</span>&#160;    feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#a4738f0df69322f7d10ff08ea9f78436f">x</a> = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter-&gt;x);</div>
<div class="line"><a name="l01356"></a><span class="lineno"> 1356</span>&#160;    feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#accb11ae888160446c94d0b30aafd222e">y</a> = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (iter-&gt;y);</div>
<div class="line"><a name="l01357"></a><span class="lineno"> 1357</span>&#160;    feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#ac64b7a232a4526c6f67b4ae6195d4149">modality_index</a> = modality_index;</div>
<div class="line"><a name="l01358"></a><span class="lineno"> 1358</span>&#160;    feature.<a class="code" href="structpcl_1_1_quantized_multi_mod_feature.html#aaa0d24e187cac516ee374d8aeda17a6e">quantized_value</a> = filtered_quantized_surface_normals_ (iter-&gt;x, iter-&gt;y);</div>
<div class="line"><a name="l01359"></a><span class="lineno"> 1359</span>&#160; </div>
<div class="line"><a name="l01360"></a><span class="lineno"> 1360</span>&#160;    features.push_back (feature);</div>
<div class="line"><a name="l01361"></a><span class="lineno"> 1361</span>&#160;  }</div>
<div class="line"><a name="l01362"></a><span class="lineno"> 1362</span>&#160;}</div>
<div class="line"><a name="l01363"></a><span class="lineno"> 1363</span>&#160; </div>
<div class="line"><a name="l01365"></a><span class="lineno"> 1365</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l01366"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#a8e7319d0e451388baf875fba8a223bf0"> 1366</a></span>&#160;<a class="code" href="classpcl_1_1_surface_normal_modality.html#a8e7319d0e451388baf875fba8a223bf0">pcl::SurfaceNormalModality&lt;PointInT&gt;::quantizeSurfaceNormals</a> ()</div>
<div class="line"><a name="l01367"></a><span class="lineno"> 1367</span>&#160;{</div>
<div class="line"><a name="l01368"></a><span class="lineno"> 1368</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> width = input_-&gt;width;</div>
<div class="line"><a name="l01369"></a><span class="lineno"> 1369</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> height = input_-&gt;height;</div>
<div class="line"><a name="l01370"></a><span class="lineno"> 1370</span>&#160; </div>
<div class="line"><a name="l01371"></a><span class="lineno"> 1371</span>&#160;  quantized_surface_normals_.resize (width, height);</div>
<div class="line"><a name="l01372"></a><span class="lineno"> 1372</span>&#160; </div>
<div class="line"><a name="l01373"></a><span class="lineno"> 1373</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> row_index = 0; row_index &lt; height; ++row_index)</div>
<div class="line"><a name="l01374"></a><span class="lineno"> 1374</span>&#160;  {</div>
<div class="line"><a name="l01375"></a><span class="lineno"> 1375</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> col_index = 0; col_index &lt; width; ++col_index)</div>
<div class="line"><a name="l01376"></a><span class="lineno"> 1376</span>&#160;    {</div>
<div class="line"><a name="l01377"></a><span class="lineno"> 1377</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> normal_x = surface_normals_ (col_index, row_index).normal_x;</div>
<div class="line"><a name="l01378"></a><span class="lineno"> 1378</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> normal_y = surface_normals_ (col_index, row_index).normal_y;</div>
<div class="line"><a name="l01379"></a><span class="lineno"> 1379</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> normal_z = surface_normals_ (col_index, row_index).normal_z;</div>
<div class="line"><a name="l01380"></a><span class="lineno"> 1380</span>&#160; </div>
<div class="line"><a name="l01381"></a><span class="lineno"> 1381</span>&#160;      <span class="keywordflow">if</span> (pcl_isnan(normal_x) || pcl_isnan(normal_y) || pcl_isnan(normal_z) || normal_z &gt; 0)</div>
<div class="line"><a name="l01382"></a><span class="lineno"> 1382</span>&#160;      {</div>
<div class="line"><a name="l01383"></a><span class="lineno"> 1383</span>&#160;        quantized_surface_normals_ (col_index, row_index) = 0;</div>
<div class="line"><a name="l01384"></a><span class="lineno"> 1384</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l01385"></a><span class="lineno"> 1385</span>&#160;      }</div>
<div class="line"><a name="l01386"></a><span class="lineno"> 1386</span>&#160; </div>
<div class="line"><a name="l01387"></a><span class="lineno"> 1387</span>&#160;      <span class="comment">//quantized_surface_normals_.data[row_index*width+col_index] =</span></div>
<div class="line"><a name="l01388"></a><span class="lineno"> 1388</span>&#160;      <span class="comment">//  normal_lookup_(normal_x, normal_y, normal_z);</span></div>
<div class="line"><a name="l01389"></a><span class="lineno"> 1389</span>&#160; </div>
<div class="line"><a name="l01390"></a><span class="lineno"> 1390</span>&#160;      <span class="keywordtype">float</span> angle = 11.25f + atan2f (normal_y, normal_x)*180.0f/3.14f;</div>
<div class="line"><a name="l01391"></a><span class="lineno"> 1391</span>&#160; </div>
<div class="line"><a name="l01392"></a><span class="lineno"> 1392</span>&#160;      <span class="keywordflow">if</span> (angle &lt; 0.0f) angle += 360.0f;</div>
<div class="line"><a name="l01393"></a><span class="lineno"> 1393</span>&#160;      <span class="keywordflow">if</span> (angle &gt;= 360.0f) angle -= 360.0f;</div>
<div class="line"><a name="l01394"></a><span class="lineno"> 1394</span>&#160; </div>
<div class="line"><a name="l01395"></a><span class="lineno"> 1395</span>&#160;      <span class="keywordtype">int</span> bin_index = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (angle*8.0f/360.0f);</div>
<div class="line"><a name="l01396"></a><span class="lineno"> 1396</span>&#160; </div>
<div class="line"><a name="l01397"></a><span class="lineno"> 1397</span>&#160;      <span class="comment">//quantized_surface_normals_.data[row_index*width+col_index] = 0x1 &lt;&lt; bin_index;</span></div>
<div class="line"><a name="l01398"></a><span class="lineno"> 1398</span>&#160;      quantized_surface_normals_ (col_index, row_index) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (bin_index);</div>
<div class="line"><a name="l01399"></a><span class="lineno"> 1399</span>&#160;    }</div>
<div class="line"><a name="l01400"></a><span class="lineno"> 1400</span>&#160;  }</div>
<div class="line"><a name="l01401"></a><span class="lineno"> 1401</span>&#160; </div>
<div class="line"><a name="l01402"></a><span class="lineno"> 1402</span>&#160;  <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l01403"></a><span class="lineno"> 1403</span>&#160;}</div>
<div class="line"><a name="l01404"></a><span class="lineno"> 1404</span>&#160; </div>
<div class="line"><a name="l01406"></a><span class="lineno"> 1406</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l01407"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#ae0f10e280b61a13ff064e9578164204d"> 1407</a></span>&#160;<a class="code" href="classpcl_1_1_surface_normal_modality.html#ae0f10e280b61a13ff064e9578164204d">pcl::SurfaceNormalModality&lt;PointInT&gt;::filterQuantizedSurfaceNormals</a> ()</div>
<div class="line"><a name="l01408"></a><span class="lineno"> 1408</span>&#160;{</div>
<div class="line"><a name="l01409"></a><span class="lineno"> 1409</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> width = input_-&gt;width;</div>
<div class="line"><a name="l01410"></a><span class="lineno"> 1410</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> height = input_-&gt;height;</div>
<div class="line"><a name="l01411"></a><span class="lineno"> 1411</span>&#160; </div>
<div class="line"><a name="l01412"></a><span class="lineno"> 1412</span>&#160;  filtered_quantized_surface_normals_.resize (width, height);</div>
<div class="line"><a name="l01413"></a><span class="lineno"> 1413</span>&#160; </div>
<div class="line"><a name="l01414"></a><span class="lineno"> 1414</span>&#160;  <span class="comment">//for (int row_index = 2; row_index &lt; height-2; ++row_index)</span></div>
<div class="line"><a name="l01415"></a><span class="lineno"> 1415</span>&#160;  <span class="comment">//{</span></div>
<div class="line"><a name="l01416"></a><span class="lineno"> 1416</span>&#160;  <span class="comment">//  for (int col_index = 2; col_index &lt; width-2; ++col_index)</span></div>
<div class="line"><a name="l01417"></a><span class="lineno"> 1417</span>&#160;  <span class="comment">//  {</span></div>
<div class="line"><a name="l01418"></a><span class="lineno"> 1418</span>&#160;  <span class="comment">//    std::list&lt;unsigned char&gt; values;</span></div>
<div class="line"><a name="l01419"></a><span class="lineno"> 1419</span>&#160;  <span class="comment">//    values.reserve (25);</span></div>
<div class="line"><a name="l01420"></a><span class="lineno"> 1420</span>&#160; </div>
<div class="line"><a name="l01421"></a><span class="lineno"> 1421</span>&#160;  <span class="comment">//    unsigned char * dataPtr = quantized_surface_normals_.getData () + (row_index-2)*width+col_index-2;</span></div>
<div class="line"><a name="l01422"></a><span class="lineno"> 1422</span>&#160;  <span class="comment">//    values.push_back (dataPtr[0]);</span></div>
<div class="line"><a name="l01423"></a><span class="lineno"> 1423</span>&#160;  <span class="comment">//    values.push_back (dataPtr[1]);</span></div>
<div class="line"><a name="l01424"></a><span class="lineno"> 1424</span>&#160;  <span class="comment">//    values.push_back (dataPtr[2]);</span></div>
<div class="line"><a name="l01425"></a><span class="lineno"> 1425</span>&#160;  <span class="comment">//    values.push_back (dataPtr[3]);</span></div>
<div class="line"><a name="l01426"></a><span class="lineno"> 1426</span>&#160;  <span class="comment">//    values.push_back (dataPtr[4]);</span></div>
<div class="line"><a name="l01427"></a><span class="lineno"> 1427</span>&#160;  <span class="comment">//    dataPtr += width;</span></div>
<div class="line"><a name="l01428"></a><span class="lineno"> 1428</span>&#160;  <span class="comment">//    values.push_back (dataPtr[0]);</span></div>
<div class="line"><a name="l01429"></a><span class="lineno"> 1429</span>&#160;  <span class="comment">//    values.push_back (dataPtr[1]);</span></div>
<div class="line"><a name="l01430"></a><span class="lineno"> 1430</span>&#160;  <span class="comment">//    values.push_back (dataPtr[2]);</span></div>
<div class="line"><a name="l01431"></a><span class="lineno"> 1431</span>&#160;  <span class="comment">//    values.push_back (dataPtr[3]);</span></div>
<div class="line"><a name="l01432"></a><span class="lineno"> 1432</span>&#160;  <span class="comment">//    values.push_back (dataPtr[4]);</span></div>
<div class="line"><a name="l01433"></a><span class="lineno"> 1433</span>&#160;  <span class="comment">//    dataPtr += width;</span></div>
<div class="line"><a name="l01434"></a><span class="lineno"> 1434</span>&#160;  <span class="comment">//    values.push_back (dataPtr[0]);</span></div>
<div class="line"><a name="l01435"></a><span class="lineno"> 1435</span>&#160;  <span class="comment">//    values.push_back (dataPtr[1]);</span></div>
<div class="line"><a name="l01436"></a><span class="lineno"> 1436</span>&#160;  <span class="comment">//    values.push_back (dataPtr[2]);</span></div>
<div class="line"><a name="l01437"></a><span class="lineno"> 1437</span>&#160;  <span class="comment">//    values.push_back (dataPtr[3]);</span></div>
<div class="line"><a name="l01438"></a><span class="lineno"> 1438</span>&#160;  <span class="comment">//    values.push_back (dataPtr[4]);</span></div>
<div class="line"><a name="l01439"></a><span class="lineno"> 1439</span>&#160;  <span class="comment">//    dataPtr += width;</span></div>
<div class="line"><a name="l01440"></a><span class="lineno"> 1440</span>&#160;  <span class="comment">//    values.push_back (dataPtr[0]);</span></div>
<div class="line"><a name="l01441"></a><span class="lineno"> 1441</span>&#160;  <span class="comment">//    values.push_back (dataPtr[1]);</span></div>
<div class="line"><a name="l01442"></a><span class="lineno"> 1442</span>&#160;  <span class="comment">//    values.push_back (dataPtr[2]);</span></div>
<div class="line"><a name="l01443"></a><span class="lineno"> 1443</span>&#160;  <span class="comment">//    values.push_back (dataPtr[3]);</span></div>
<div class="line"><a name="l01444"></a><span class="lineno"> 1444</span>&#160;  <span class="comment">//    values.push_back (dataPtr[4]);</span></div>
<div class="line"><a name="l01445"></a><span class="lineno"> 1445</span>&#160;  <span class="comment">//    dataPtr += width;</span></div>
<div class="line"><a name="l01446"></a><span class="lineno"> 1446</span>&#160;  <span class="comment">//    values.push_back (dataPtr[0]);</span></div>
<div class="line"><a name="l01447"></a><span class="lineno"> 1447</span>&#160;  <span class="comment">//    values.push_back (dataPtr[1]);</span></div>
<div class="line"><a name="l01448"></a><span class="lineno"> 1448</span>&#160;  <span class="comment">//    values.push_back (dataPtr[2]);</span></div>
<div class="line"><a name="l01449"></a><span class="lineno"> 1449</span>&#160;  <span class="comment">//    values.push_back (dataPtr[3]);</span></div>
<div class="line"><a name="l01450"></a><span class="lineno"> 1450</span>&#160;  <span class="comment">//    values.push_back (dataPtr[4]);</span></div>
<div class="line"><a name="l01451"></a><span class="lineno"> 1451</span>&#160; </div>
<div class="line"><a name="l01452"></a><span class="lineno"> 1452</span>&#160;  <span class="comment">//    values.sort ();</span></div>
<div class="line"><a name="l01453"></a><span class="lineno"> 1453</span>&#160; </div>
<div class="line"><a name="l01454"></a><span class="lineno"> 1454</span>&#160;  <span class="comment">//    filtered_quantized_surface_normals_ (col_index, row_index) = values[12];</span></div>
<div class="line"><a name="l01455"></a><span class="lineno"> 1455</span>&#160;  <span class="comment">//  }</span></div>
<div class="line"><a name="l01456"></a><span class="lineno"> 1456</span>&#160;  <span class="comment">//}</span></div>
<div class="line"><a name="l01457"></a><span class="lineno"> 1457</span>&#160; </div>
<div class="line"><a name="l01458"></a><span class="lineno"> 1458</span>&#160; </div>
<div class="line"><a name="l01459"></a><span class="lineno"> 1459</span>&#160;  <span class="comment">//for (int row_index = 2; row_index &lt; height-2; ++row_index)</span></div>
<div class="line"><a name="l01460"></a><span class="lineno"> 1460</span>&#160;  <span class="comment">//{</span></div>
<div class="line"><a name="l01461"></a><span class="lineno"> 1461</span>&#160;  <span class="comment">//  for (int col_index = 2; col_index &lt; width-2; ++col_index)</span></div>
<div class="line"><a name="l01462"></a><span class="lineno"> 1462</span>&#160;  <span class="comment">//  {</span></div>
<div class="line"><a name="l01463"></a><span class="lineno"> 1463</span>&#160;  <span class="comment">//    filtered_quantized_surface_normals_ (col_index, row_index) = static_cast&lt;unsigned char&gt; (0x1 &lt;&lt; (quantized_surface_normals_ (col_index, row_index) - 1));</span></div>
<div class="line"><a name="l01464"></a><span class="lineno"> 1464</span>&#160;  <span class="comment">//  }</span></div>
<div class="line"><a name="l01465"></a><span class="lineno"> 1465</span>&#160;  <span class="comment">//}</span></div>
<div class="line"><a name="l01466"></a><span class="lineno"> 1466</span>&#160; </div>
<div class="line"><a name="l01467"></a><span class="lineno"> 1467</span>&#160; </div>
<div class="line"><a name="l01468"></a><span class="lineno"> 1468</span>&#160;  <span class="comment">// filter data</span></div>
<div class="line"><a name="l01469"></a><span class="lineno"> 1469</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> row_index = 2; row_index &lt; height-2; ++row_index)</div>
<div class="line"><a name="l01470"></a><span class="lineno"> 1470</span>&#160;  {</div>
<div class="line"><a name="l01471"></a><span class="lineno"> 1471</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> col_index = 2; col_index &lt; width-2; ++col_index)</div>
<div class="line"><a name="l01472"></a><span class="lineno"> 1472</span>&#160;    {</div>
<div class="line"><a name="l01473"></a><span class="lineno"> 1473</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> histogram[9] = {0,0,0,0,0,0,0,0,0};</div>
<div class="line"><a name="l01474"></a><span class="lineno"> 1474</span>&#160; </div>
<div class="line"><a name="l01475"></a><span class="lineno"> 1475</span>&#160;      <span class="comment">//{</span></div>
<div class="line"><a name="l01476"></a><span class="lineno"> 1476</span>&#160;      <span class="comment">//  unsigned char * dataPtr = quantized_surface_normals_.getData () + (row_index-1)*width+col_index-1;</span></div>
<div class="line"><a name="l01477"></a><span class="lineno"> 1477</span>&#160;      <span class="comment">//  ++histogram[dataPtr[0]];</span></div>
<div class="line"><a name="l01478"></a><span class="lineno"> 1478</span>&#160;      <span class="comment">//  ++histogram[dataPtr[1]];</span></div>
<div class="line"><a name="l01479"></a><span class="lineno"> 1479</span>&#160;      <span class="comment">//  ++histogram[dataPtr[2]];</span></div>
<div class="line"><a name="l01480"></a><span class="lineno"> 1480</span>&#160;      <span class="comment">//}</span></div>
<div class="line"><a name="l01481"></a><span class="lineno"> 1481</span>&#160;      <span class="comment">//{</span></div>
<div class="line"><a name="l01482"></a><span class="lineno"> 1482</span>&#160;      <span class="comment">//  unsigned char * dataPtr = quantized_surface_normals_.getData () + row_index*width+col_index-1;</span></div>
<div class="line"><a name="l01483"></a><span class="lineno"> 1483</span>&#160;      <span class="comment">//  ++histogram[dataPtr[0]];</span></div>
<div class="line"><a name="l01484"></a><span class="lineno"> 1484</span>&#160;      <span class="comment">//  ++histogram[dataPtr[1]];</span></div>
<div class="line"><a name="l01485"></a><span class="lineno"> 1485</span>&#160;      <span class="comment">//  ++histogram[dataPtr[2]];</span></div>
<div class="line"><a name="l01486"></a><span class="lineno"> 1486</span>&#160;      <span class="comment">//}</span></div>
<div class="line"><a name="l01487"></a><span class="lineno"> 1487</span>&#160;      <span class="comment">//{</span></div>
<div class="line"><a name="l01488"></a><span class="lineno"> 1488</span>&#160;      <span class="comment">//  unsigned char * dataPtr = quantized_surface_normals_.getData () + (row_index+1)*width+col_index-1;</span></div>
<div class="line"><a name="l01489"></a><span class="lineno"> 1489</span>&#160;      <span class="comment">//  ++histogram[dataPtr[0]];</span></div>
<div class="line"><a name="l01490"></a><span class="lineno"> 1490</span>&#160;      <span class="comment">//  ++histogram[dataPtr[1]];</span></div>
<div class="line"><a name="l01491"></a><span class="lineno"> 1491</span>&#160;      <span class="comment">//  ++histogram[dataPtr[2]];</span></div>
<div class="line"><a name="l01492"></a><span class="lineno"> 1492</span>&#160;      <span class="comment">//}</span></div>
<div class="line"><a name="l01493"></a><span class="lineno"> 1493</span>&#160; </div>
<div class="line"><a name="l01494"></a><span class="lineno"> 1494</span>&#160;      {</div>
<div class="line"><a name="l01495"></a><span class="lineno"> 1495</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * dataPtr = quantized_surface_normals_.getData () + (row_index-2)*width+col_index-2;</div>
<div class="line"><a name="l01496"></a><span class="lineno"> 1496</span>&#160;        ++histogram[dataPtr[0]];</div>
<div class="line"><a name="l01497"></a><span class="lineno"> 1497</span>&#160;        ++histogram[dataPtr[1]];</div>
<div class="line"><a name="l01498"></a><span class="lineno"> 1498</span>&#160;        ++histogram[dataPtr[2]];</div>
<div class="line"><a name="l01499"></a><span class="lineno"> 1499</span>&#160;        ++histogram[dataPtr[3]];</div>
<div class="line"><a name="l01500"></a><span class="lineno"> 1500</span>&#160;        ++histogram[dataPtr[4]];</div>
<div class="line"><a name="l01501"></a><span class="lineno"> 1501</span>&#160;      }</div>
<div class="line"><a name="l01502"></a><span class="lineno"> 1502</span>&#160;      {</div>
<div class="line"><a name="l01503"></a><span class="lineno"> 1503</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * dataPtr = quantized_surface_normals_.getData () + (row_index-1)*width+col_index-2;</div>
<div class="line"><a name="l01504"></a><span class="lineno"> 1504</span>&#160;        ++histogram[dataPtr[0]];</div>
<div class="line"><a name="l01505"></a><span class="lineno"> 1505</span>&#160;        ++histogram[dataPtr[1]];</div>
<div class="line"><a name="l01506"></a><span class="lineno"> 1506</span>&#160;        ++histogram[dataPtr[2]];</div>
<div class="line"><a name="l01507"></a><span class="lineno"> 1507</span>&#160;        ++histogram[dataPtr[3]];</div>
<div class="line"><a name="l01508"></a><span class="lineno"> 1508</span>&#160;        ++histogram[dataPtr[4]];</div>
<div class="line"><a name="l01509"></a><span class="lineno"> 1509</span>&#160;      }</div>
<div class="line"><a name="l01510"></a><span class="lineno"> 1510</span>&#160;      {</div>
<div class="line"><a name="l01511"></a><span class="lineno"> 1511</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * dataPtr = quantized_surface_normals_.getData () + (row_index)*width+col_index-2;</div>
<div class="line"><a name="l01512"></a><span class="lineno"> 1512</span>&#160;        ++histogram[dataPtr[0]];</div>
<div class="line"><a name="l01513"></a><span class="lineno"> 1513</span>&#160;        ++histogram[dataPtr[1]];</div>
<div class="line"><a name="l01514"></a><span class="lineno"> 1514</span>&#160;        ++histogram[dataPtr[2]];</div>
<div class="line"><a name="l01515"></a><span class="lineno"> 1515</span>&#160;        ++histogram[dataPtr[3]];</div>
<div class="line"><a name="l01516"></a><span class="lineno"> 1516</span>&#160;        ++histogram[dataPtr[4]];</div>
<div class="line"><a name="l01517"></a><span class="lineno"> 1517</span>&#160;      }</div>
<div class="line"><a name="l01518"></a><span class="lineno"> 1518</span>&#160;      {</div>
<div class="line"><a name="l01519"></a><span class="lineno"> 1519</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * dataPtr = quantized_surface_normals_.getData () + (row_index+1)*width+col_index-2;</div>
<div class="line"><a name="l01520"></a><span class="lineno"> 1520</span>&#160;        ++histogram[dataPtr[0]];</div>
<div class="line"><a name="l01521"></a><span class="lineno"> 1521</span>&#160;        ++histogram[dataPtr[1]];</div>
<div class="line"><a name="l01522"></a><span class="lineno"> 1522</span>&#160;        ++histogram[dataPtr[2]];</div>
<div class="line"><a name="l01523"></a><span class="lineno"> 1523</span>&#160;        ++histogram[dataPtr[3]];</div>
<div class="line"><a name="l01524"></a><span class="lineno"> 1524</span>&#160;        ++histogram[dataPtr[4]];</div>
<div class="line"><a name="l01525"></a><span class="lineno"> 1525</span>&#160;      }</div>
<div class="line"><a name="l01526"></a><span class="lineno"> 1526</span>&#160;      {</div>
<div class="line"><a name="l01527"></a><span class="lineno"> 1527</span>&#160;        <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * dataPtr = quantized_surface_normals_.getData () + (row_index+2)*width+col_index-2;</div>
<div class="line"><a name="l01528"></a><span class="lineno"> 1528</span>&#160;        ++histogram[dataPtr[0]];</div>
<div class="line"><a name="l01529"></a><span class="lineno"> 1529</span>&#160;        ++histogram[dataPtr[1]];</div>
<div class="line"><a name="l01530"></a><span class="lineno"> 1530</span>&#160;        ++histogram[dataPtr[2]];</div>
<div class="line"><a name="l01531"></a><span class="lineno"> 1531</span>&#160;        ++histogram[dataPtr[3]];</div>
<div class="line"><a name="l01532"></a><span class="lineno"> 1532</span>&#160;        ++histogram[dataPtr[4]];</div>
<div class="line"><a name="l01533"></a><span class="lineno"> 1533</span>&#160;      }</div>
<div class="line"><a name="l01534"></a><span class="lineno"> 1534</span>&#160; </div>
<div class="line"><a name="l01535"></a><span class="lineno"> 1535</span>&#160; </div>
<div class="line"><a name="l01536"></a><span class="lineno"> 1536</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> max_hist_value = 0;</div>
<div class="line"><a name="l01537"></a><span class="lineno"> 1537</span>&#160;      <span class="keywordtype">int</span> max_hist_index = -1;</div>
<div class="line"><a name="l01538"></a><span class="lineno"> 1538</span>&#160; </div>
<div class="line"><a name="l01539"></a><span class="lineno"> 1539</span>&#160;      <span class="keywordflow">if</span> (max_hist_value &lt; histogram[1]) {max_hist_index = 0; max_hist_value = histogram[1];}</div>
<div class="line"><a name="l01540"></a><span class="lineno"> 1540</span>&#160;      <span class="keywordflow">if</span> (max_hist_value &lt; histogram[2]) {max_hist_index = 1; max_hist_value = histogram[2];}</div>
<div class="line"><a name="l01541"></a><span class="lineno"> 1541</span>&#160;      <span class="keywordflow">if</span> (max_hist_value &lt; histogram[3]) {max_hist_index = 2; max_hist_value = histogram[3];}</div>
<div class="line"><a name="l01542"></a><span class="lineno"> 1542</span>&#160;      <span class="keywordflow">if</span> (max_hist_value &lt; histogram[4]) {max_hist_index = 3; max_hist_value = histogram[4];}</div>
<div class="line"><a name="l01543"></a><span class="lineno"> 1543</span>&#160;      <span class="keywordflow">if</span> (max_hist_value &lt; histogram[5]) {max_hist_index = 4; max_hist_value = histogram[5];}</div>
<div class="line"><a name="l01544"></a><span class="lineno"> 1544</span>&#160;      <span class="keywordflow">if</span> (max_hist_value &lt; histogram[6]) {max_hist_index = 5; max_hist_value = histogram[6];}</div>
<div class="line"><a name="l01545"></a><span class="lineno"> 1545</span>&#160;      <span class="keywordflow">if</span> (max_hist_value &lt; histogram[7]) {max_hist_index = 6; max_hist_value = histogram[7];}</div>
<div class="line"><a name="l01546"></a><span class="lineno"> 1546</span>&#160;      <span class="keywordflow">if</span> (max_hist_value &lt; histogram[8]) {max_hist_index = 7; max_hist_value = histogram[8];}</div>
<div class="line"><a name="l01547"></a><span class="lineno"> 1547</span>&#160; </div>
<div class="line"><a name="l01548"></a><span class="lineno"> 1548</span>&#160;      <span class="keywordflow">if</span> (max_hist_index != -1 &amp;&amp; max_hist_value &gt;= 1)</div>
<div class="line"><a name="l01549"></a><span class="lineno"> 1549</span>&#160;      {</div>
<div class="line"><a name="l01550"></a><span class="lineno"> 1550</span>&#160;        filtered_quantized_surface_normals_ (col_index, row_index) = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">char</span><span class="keyword">&gt;</span> (0x1 &lt;&lt; max_hist_index);</div>
<div class="line"><a name="l01551"></a><span class="lineno"> 1551</span>&#160;      }</div>
<div class="line"><a name="l01552"></a><span class="lineno"> 1552</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l01553"></a><span class="lineno"> 1553</span>&#160;      {</div>
<div class="line"><a name="l01554"></a><span class="lineno"> 1554</span>&#160;        filtered_quantized_surface_normals_ (col_index, row_index) = 0;</div>
<div class="line"><a name="l01555"></a><span class="lineno"> 1555</span>&#160;      }</div>
<div class="line"><a name="l01556"></a><span class="lineno"> 1556</span>&#160; </div>
<div class="line"><a name="l01557"></a><span class="lineno"> 1557</span>&#160;      <span class="comment">//filtered_quantized_color_gradients_.data[row_index*width+col_index] = quantized_color_gradients_.data[row_index*width+col_index];</span></div>
<div class="line"><a name="l01558"></a><span class="lineno"> 1558</span>&#160;    }</div>
<div class="line"><a name="l01559"></a><span class="lineno"> 1559</span>&#160;  }</div>
<div class="line"><a name="l01560"></a><span class="lineno"> 1560</span>&#160; </div>
<div class="line"><a name="l01561"></a><span class="lineno"> 1561</span>&#160; </div>
<div class="line"><a name="l01562"></a><span class="lineno"> 1562</span>&#160; </div>
<div class="line"><a name="l01563"></a><span class="lineno"> 1563</span>&#160;  <span class="comment">//cv::Mat data1(quantized_surface_normals_.height, quantized_surface_normals_.width, CV_8U, quantized_surface_normals_.data);</span></div>
<div class="line"><a name="l01564"></a><span class="lineno"> 1564</span>&#160;  <span class="comment">//cv::Mat data2(filtered_quantized_surface_normals_.height, filtered_quantized_surface_normals_.width, CV_8U, filtered_quantized_surface_normals_.data);</span></div>
<div class="line"><a name="l01565"></a><span class="lineno"> 1565</span>&#160; </div>
<div class="line"><a name="l01566"></a><span class="lineno"> 1566</span>&#160;  <span class="comment">//cv::medianBlur(data1, data2, 3);</span></div>
<div class="line"><a name="l01567"></a><span class="lineno"> 1567</span>&#160; </div>
<div class="line"><a name="l01568"></a><span class="lineno"> 1568</span>&#160;  <span class="comment">//for (int row_index = 0; row_index &lt; height; ++row_index)</span></div>
<div class="line"><a name="l01569"></a><span class="lineno"> 1569</span>&#160;  <span class="comment">//{</span></div>
<div class="line"><a name="l01570"></a><span class="lineno"> 1570</span>&#160;  <span class="comment">//  for (int col_index = 0; col_index &lt; width; ++col_index)</span></div>
<div class="line"><a name="l01571"></a><span class="lineno"> 1571</span>&#160;  <span class="comment">//  {</span></div>
<div class="line"><a name="l01572"></a><span class="lineno"> 1572</span>&#160;  <span class="comment">//    filtered_quantized_surface_normals_.data[row_index*width+col_index] = 0x1 &lt;&lt; filtered_quantized_surface_normals_.data[row_index*width+col_index];</span></div>
<div class="line"><a name="l01573"></a><span class="lineno"> 1573</span>&#160;  <span class="comment">//  }</span></div>
<div class="line"><a name="l01574"></a><span class="lineno"> 1574</span>&#160;  <span class="comment">//}</span></div>
<div class="line"><a name="l01575"></a><span class="lineno"> 1575</span>&#160;}</div>
<div class="line"><a name="l01576"></a><span class="lineno"> 1576</span>&#160; </div>
<div class="line"><a name="l01578"></a><span class="lineno"> 1578</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l01579"></a><span class="lineno"><a class="line" href="classpcl_1_1_surface_normal_modality.html#ab6f7ea436fe627a8d04608b2aca933cc"> 1579</a></span>&#160;<a class="code" href="classpcl_1_1_surface_normal_modality.html#ab6f7ea436fe627a8d04608b2aca933cc">pcl::SurfaceNormalModality&lt;PointInT&gt;::computeDistanceMap</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_mask_map.html">MaskMap</a> &amp; input, <a class="code" href="classpcl_1_1_distance_map.html">DistanceMap</a> &amp; output)<span class="keyword"> const</span></div>
<div class="line"><a name="l01580"></a><span class="lineno"> 1580</span>&#160;<span class="keyword"></span>{</div>
<div class="line"><a name="l01581"></a><span class="lineno"> 1581</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> width = input.getWidth ();</div>
<div class="line"><a name="l01582"></a><span class="lineno"> 1582</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">size_t</span> height = input.getHeight ();</div>
<div class="line"><a name="l01583"></a><span class="lineno"> 1583</span>&#160; </div>
<div class="line"><a name="l01584"></a><span class="lineno"> 1584</span>&#160;  output.<a class="code" href="classpcl_1_1_distance_map.html#aae39cce471005c7d420336bf192b83d8">resize</a> (width, height);</div>
<div class="line"><a name="l01585"></a><span class="lineno"> 1585</span>&#160; </div>
<div class="line"><a name="l01586"></a><span class="lineno"> 1586</span>&#160;  <span class="comment">// compute distance map</span></div>
<div class="line"><a name="l01587"></a><span class="lineno"> 1587</span>&#160;  <span class="comment">//float *distance_map = new float[input_-&gt;points.size ()];</span></div>
<div class="line"><a name="l01588"></a><span class="lineno"> 1588</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * mask_map = input.getData ();</div>
<div class="line"><a name="l01589"></a><span class="lineno"> 1589</span>&#160;  <span class="keywordtype">float</span> * distance_map = output.<a class="code" href="classpcl_1_1_distance_map.html#a532eeebde4676e82c7e503f769506d2b">getData</a> ();</div>
<div class="line"><a name="l01590"></a><span class="lineno"> 1590</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> index = 0; index &lt; width*height; ++index)</div>
<div class="line"><a name="l01591"></a><span class="lineno"> 1591</span>&#160;  {</div>
<div class="line"><a name="l01592"></a><span class="lineno"> 1592</span>&#160;    <span class="keywordflow">if</span> (mask_map[index] == 0)</div>
<div class="line"><a name="l01593"></a><span class="lineno"> 1593</span>&#160;      distance_map[index] = 0.0f;</div>
<div class="line"><a name="l01594"></a><span class="lineno"> 1594</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l01595"></a><span class="lineno"> 1595</span>&#160;      distance_map[index] = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (width + height);</div>
<div class="line"><a name="l01596"></a><span class="lineno"> 1596</span>&#160;  }</div>
<div class="line"><a name="l01597"></a><span class="lineno"> 1597</span>&#160; </div>
<div class="line"><a name="l01598"></a><span class="lineno"> 1598</span>&#160;  <span class="comment">// first pass</span></div>
<div class="line"><a name="l01599"></a><span class="lineno"> 1599</span>&#160;  <span class="keywordtype">float</span> * previous_row = distance_map;</div>
<div class="line"><a name="l01600"></a><span class="lineno"> 1600</span>&#160;  <span class="keywordtype">float</span> * current_row = previous_row + width;</div>
<div class="line"><a name="l01601"></a><span class="lineno"> 1601</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> ri = 1; ri &lt; height; ++ri)</div>
<div class="line"><a name="l01602"></a><span class="lineno"> 1602</span>&#160;  {</div>
<div class="line"><a name="l01603"></a><span class="lineno"> 1603</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> ci = 1; ci &lt; width; ++ci)</div>
<div class="line"><a name="l01604"></a><span class="lineno"> 1604</span>&#160;    {</div>
<div class="line"><a name="l01605"></a><span class="lineno"> 1605</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> up_left  = previous_row [ci - 1] + 1.4f; <span class="comment">//distance_map[(ri-1)*input_-&gt;width + ci-1] + 1.4f;</span></div>
<div class="line"><a name="l01606"></a><span class="lineno"> 1606</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> up       = previous_row [ci]     + 1.0f; <span class="comment">//distance_map[(ri-1)*input_-&gt;width + ci] + 1.0f;</span></div>
<div class="line"><a name="l01607"></a><span class="lineno"> 1607</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> up_right = previous_row [ci + 1] + 1.4f; <span class="comment">//distance_map[(ri-1)*input_-&gt;width + ci+1] + 1.4f;</span></div>
<div class="line"><a name="l01608"></a><span class="lineno"> 1608</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> left     = current_row  [ci - 1] + 1.0f; <span class="comment">//distance_map[ri*input_-&gt;width + ci-1] + 1.0f;</span></div>
<div class="line"><a name="l01609"></a><span class="lineno"> 1609</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> center   = current_row  [ci];            <span class="comment">//distance_map[ri*input_-&gt;width + ci];</span></div>
<div class="line"><a name="l01610"></a><span class="lineno"> 1610</span>&#160; </div>
<div class="line"><a name="l01611"></a><span class="lineno"> 1611</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> min_value = std::min (std::min (up_left, up), std::min (left, up_right));</div>
<div class="line"><a name="l01612"></a><span class="lineno"> 1612</span>&#160; </div>
<div class="line"><a name="l01613"></a><span class="lineno"> 1613</span>&#160;      <span class="keywordflow">if</span> (min_value &lt; center)</div>
<div class="line"><a name="l01614"></a><span class="lineno"> 1614</span>&#160;        current_row[ci] = min_value; <span class="comment">//distance_map[ri * input_-&gt;width + ci] = min_value;</span></div>
<div class="line"><a name="l01615"></a><span class="lineno"> 1615</span>&#160;    }</div>
<div class="line"><a name="l01616"></a><span class="lineno"> 1616</span>&#160;    previous_row = current_row;</div>
<div class="line"><a name="l01617"></a><span class="lineno"> 1617</span>&#160;    current_row += width;</div>
<div class="line"><a name="l01618"></a><span class="lineno"> 1618</span>&#160;  }</div>
<div class="line"><a name="l01619"></a><span class="lineno"> 1619</span>&#160; </div>
<div class="line"><a name="l01620"></a><span class="lineno"> 1620</span>&#160;  <span class="comment">// second pass</span></div>
<div class="line"><a name="l01621"></a><span class="lineno"> 1621</span>&#160;  <span class="keywordtype">float</span> * next_row = distance_map + width * (height - 1);</div>
<div class="line"><a name="l01622"></a><span class="lineno"> 1622</span>&#160;  current_row = next_row - width;</div>
<div class="line"><a name="l01623"></a><span class="lineno"> 1623</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> ri = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (height)-2; ri &gt;= 0; --ri)</div>
<div class="line"><a name="l01624"></a><span class="lineno"> 1624</span>&#160;  {</div>
<div class="line"><a name="l01625"></a><span class="lineno"> 1625</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> ci = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (width)-2; ci &gt;= 0; --ci)</div>
<div class="line"><a name="l01626"></a><span class="lineno"> 1626</span>&#160;    {</div>
<div class="line"><a name="l01627"></a><span class="lineno"> 1627</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> lower_left  = next_row    [ci - 1] + 1.4f; <span class="comment">//distance_map[(ri+1)*input_-&gt;width + ci-1] + 1.4f;</span></div>
<div class="line"><a name="l01628"></a><span class="lineno"> 1628</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> lower       = next_row    [ci]     + 1.0f; <span class="comment">//distance_map[(ri+1)*input_-&gt;width + ci] + 1.0f;</span></div>
<div class="line"><a name="l01629"></a><span class="lineno"> 1629</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> lower_right = next_row    [ci + 1] + 1.4f; <span class="comment">//distance_map[(ri+1)*input_-&gt;width + ci+1] + 1.4f;</span></div>
<div class="line"><a name="l01630"></a><span class="lineno"> 1630</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> right       = current_row [ci + 1] + 1.0f; <span class="comment">//distance_map[ri*input_-&gt;width + ci+1] + 1.0f;</span></div>
<div class="line"><a name="l01631"></a><span class="lineno"> 1631</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> center      = current_row [ci];            <span class="comment">//distance_map[ri*input_-&gt;width + ci];</span></div>
<div class="line"><a name="l01632"></a><span class="lineno"> 1632</span>&#160; </div>
<div class="line"><a name="l01633"></a><span class="lineno"> 1633</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">float</span> min_value = std::min (std::min (lower_left, lower), std::min (right, lower_right));</div>
<div class="line"><a name="l01634"></a><span class="lineno"> 1634</span>&#160; </div>
<div class="line"><a name="l01635"></a><span class="lineno"> 1635</span>&#160;      <span class="keywordflow">if</span> (min_value &lt; center)</div>
<div class="line"><a name="l01636"></a><span class="lineno"> 1636</span>&#160;        current_row[ci] = min_value; <span class="comment">//distance_map[ri*input_-&gt;width + ci] = min_value;</span></div>
<div class="line"><a name="l01637"></a><span class="lineno"> 1637</span>&#160;    }</div>
<div class="line"><a name="l01638"></a><span class="lineno"> 1638</span>&#160;    next_row = current_row;</div>
<div class="line"><a name="l01639"></a><span class="lineno"> 1639</span>&#160;    current_row -= width;</div>
<div class="line"><a name="l01640"></a><span class="lineno"> 1640</span>&#160;  }</div>
<div class="line"><a name="l01641"></a><span class="lineno"> 1641</span>&#160;}</div>
<div class="line"><a name="l01642"></a><span class="lineno"> 1642</span>&#160; </div>
<div class="line"><a name="l01643"></a><span class="lineno"> 1643</span>&#160; </div>
<div class="line"><a name="l01644"></a><span class="lineno"> 1644</span>&#160;<span class="preprocessor">#endif </span></div>
<div class="ttc" id="aclasspcl_1_1_distance_map_html"><div class="ttname"><a href="classpcl_1_1_distance_map.html">pcl::DistanceMap</a></div><div class="ttdoc">Represents a distance map obtained from a distance transformation.</div><div class="ttdef"><b>Definition:</b> distance_map.h:48</div></div>
<div class="ttc" id="aclasspcl_1_1_distance_map_html_a532eeebde4676e82c7e503f769506d2b"><div class="ttname"><a href="classpcl_1_1_distance_map.html#a532eeebde4676e82c7e503f769506d2b">pcl::DistanceMap::getData</a></div><div class="ttdeci">float * getData()</div><div class="ttdoc">Returns a pointer to the beginning of map.</div><div class="ttdef"><b>Definition:</b> distance_map.h:71</div></div>
<div class="ttc" id="aclasspcl_1_1_distance_map_html_aae39cce471005c7d420336bf192b83d8"><div class="ttname"><a href="classpcl_1_1_distance_map.html#aae39cce471005c7d420336bf192b83d8">pcl::DistanceMap::resize</a></div><div class="ttdeci">void resize(const size_t width, const size_t height)</div><div class="ttdoc">Resizes the map to the specified size.</div><div class="ttdef"><b>Definition:</b> distance_map.h:81</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_html_ad5b1fa9612da40e738b1d99252c5ff2f"><div class="ttname"><a href="classpcl_1_1_feature.html#ad5b1fa9612da40e738b1d99252c5ff2f">pcl::Feature::compute</a></div><div class="ttdeci">void compute(PointCloudOut &amp;output)</div><div class="ttdoc">Base method for feature estimation for all points given in &lt;setInputCloud (), setIndices ()&gt; using th...</div><div class="ttdef"><b>Definition:</b> feature.hpp:189</div></div>
<div class="ttc" id="aclasspcl_1_1_linear_least_squares_normal_estimation_html"><div class="ttname"><a href="classpcl_1_1_linear_least_squares_normal_estimation.html">pcl::LinearLeastSquaresNormalEstimation</a></div><div class="ttdoc">Surface normal estimation on dense data using a least-squares estimation based on a first-order Taylo...</div><div class="ttdef"><b>Definition:</b> linear_least_squares_normal.h:53</div></div>
<div class="ttc" id="aclasspcl_1_1_linear_least_squares_normal_estimation_html_a9b44b8927076d698fdb6b76f8eeab4dd"><div class="ttname"><a href="classpcl_1_1_linear_least_squares_normal_estimation.html#a9b44b8927076d698fdb6b76f8eeab4dd">pcl::LinearLeastSquaresNormalEstimation::setNormalSmoothingSize</a></div><div class="ttdeci">void setNormalSmoothingSize(float normal_smoothing_size)</div><div class="ttdoc">Set the normal smoothing size</div><div class="ttdef"><b>Definition:</b> linear_least_squares_normal.h:91</div></div>
<div class="ttc" id="aclasspcl_1_1_linear_least_squares_normal_estimation_html_ac0af9866542a67ab620662d5c362a176"><div class="ttname"><a href="classpcl_1_1_linear_least_squares_normal_estimation.html#ac0af9866542a67ab620662d5c362a176">pcl::LinearLeastSquaresNormalEstimation::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const typename PointCloudIn::ConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset (overwrites the PCLBase::setInputCloud method)</div><div class="ttdef"><b>Definition:</b> linear_least_squares_normal.h:119</div></div>
<div class="ttc" id="aclasspcl_1_1_linear_least_squares_normal_estimation_html_ac8f4d5255f8d0bb422a91f6fd218169c"><div class="ttname"><a href="classpcl_1_1_linear_least_squares_normal_estimation.html#ac8f4d5255f8d0bb422a91f6fd218169c">pcl::LinearLeastSquaresNormalEstimation::setMaxDepthChangeFactor</a></div><div class="ttdeci">void setMaxDepthChangeFactor(float max_depth_change_factor)</div><div class="ttdoc">The depth change threshold for computing object borders</div><div class="ttdef"><b>Definition:</b> linear_least_squares_normal.h:110</div></div>
<div class="ttc" id="aclasspcl_1_1_linear_least_squares_normal_estimation_html_ad9619003390029bc1fea9cde42511f11"><div class="ttname"><a href="classpcl_1_1_linear_least_squares_normal_estimation.html#ad9619003390029bc1fea9cde42511f11">pcl::LinearLeastSquaresNormalEstimation::setDepthDependentSmoothing</a></div><div class="ttdeci">void setDepthDependentSmoothing(bool use_depth_dependent_smoothing)</div><div class="ttdoc">Set whether to use depth depending smoothing or not</div><div class="ttdef"><b>Definition:</b> linear_least_squares_normal.h:100</div></div>
<div class="ttc" id="aclasspcl_1_1_mask_map_html"><div class="ttname"><a href="classpcl_1_1_mask_map.html">pcl::MaskMap</a></div><div class="ttdef"><b>Definition:</b> mask_map.h:48</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase&lt; PointInT &gt;::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointInT &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_quantizable_modality_html"><div class="ttname"><a href="classpcl_1_1_quantizable_modality.html">pcl::QuantizableModality</a></div><div class="ttdoc">Interface for a quantizable modality.</div><div class="ttdef"><b>Definition:</b> quantizable_modality.h:54</div></div>
<div class="ttc" id="aclasspcl_1_1_quantized_map_html"><div class="ttname"><a href="classpcl_1_1_quantized_map.html">pcl::QuantizedMap</a></div><div class="ttdef"><b>Definition:</b> quantized_map.h:47</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html">pcl::SurfaceNormalModality</a></div><div class="ttdoc">Modality based on surface normals.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:295</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_a00eb230538b0061ca2a8a6324f2b9d40"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#a00eb230538b0061ca2a8a6324f2b9d40">pcl::SurfaceNormalModality::computeSurfaceNormals</a></div><div class="ttdeci">void computeSurfaceNormals()</div><div class="ttdoc">Computes the surface normals from the input cloud.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:545</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_a07b293f2be4721b06b003e12f1b2beb5"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#a07b293f2be4721b06b003e12f1b2beb5">pcl::SurfaceNormalModality::filtered_quantized_surface_normals_</a></div><div class="ttdeci">pcl::QuantizedMap filtered_quantized_surface_normals_</div><div class="ttdoc">Filtered quantized surface normals.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:478</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_a088d3f324dcffcfabd08b2043d6238fb"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#a088d3f324dcffcfabd08b2043d6238fb">pcl::SurfaceNormalModality::~SurfaceNormalModality</a></div><div class="ttdeci">virtual ~SurfaceNormalModality()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:508</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_a08c179a483ef572ebe1f43f9fce81d97"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#a08c179a483ef572ebe1f43f9fce81d97">pcl::SurfaceNormalModality::computeAndQuantizeSurfaceNormals</a></div><div class="ttdeci">void computeAndQuantizeSurfaceNormals()</div><div class="ttdoc">Computes and quantizes the surface normals.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:558</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_a13360a1562e300ea0ab17e853a3fe0a8"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#a13360a1562e300ea0ab17e853a3fe0a8">pcl::SurfaceNormalModality::min_distance_to_border_</a></div><div class="ttdeci">float min_distance_to_border_</div><div class="ttdoc">Minimum distance of a feature to a border.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:465</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_a2b976f5469678c55fb58d614bc74ef44"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#a2b976f5469678c55fb58d614bc74ef44">pcl::SurfaceNormalModality::getSurfaceNormals</a></div><div class="ttdeci">const pcl::PointCloud&lt; pcl::Normal &gt; &amp; getSurfaceNormals() const</div><div class="ttdoc">Returns the surface normals.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:363</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_a340e70c8ae25d6d85c61a9b8c875b8cb"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#a340e70c8ae25d6d85c61a9b8c875b8cb">pcl::SurfaceNormalModality::spreaded_quantized_surface_normals_</a></div><div class="ttdeci">pcl::QuantizedMap spreaded_quantized_surface_normals_</div><div class="ttdoc">Spreaded quantized surface normals.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:480</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_a359da24833263b524074a2a953e25e6c"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#a359da24833263b524074a2a953e25e6c">pcl::SurfaceNormalModality::feature_distance_threshold_</a></div><div class="ttdeci">float feature_distance_threshold_</div><div class="ttdoc">The feature distance threshold.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:463</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_a3bf48909de6236fcbaa1cfe701dbc018"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#a3bf48909de6236fcbaa1cfe701dbc018">pcl::SurfaceNormalModality::normal_lookup_</a></div><div class="ttdeci">QuantizedNormalLookUpTable normal_lookup_</div><div class="ttdoc">Look-up-table for quantizing surface normals.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:468</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_a407ad4bb799b68a6d87a3400853ed24b"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#a407ad4bb799b68a6d87a3400853ed24b">pcl::SurfaceNormalModality::surface_normals_</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::Normal &gt; surface_normals_</div><div class="ttdoc">Point cloud holding the computed surface normals.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:474</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_a47eba682876ce6fae24aa4020f4649c7"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#a47eba682876ce6fae24aa4020f4649c7">pcl::SurfaceNormalModality::computeAndQuantizeSurfaceNormals2</a></div><div class="ttdeci">void computeAndQuantizeSurfaceNormals2()</div><div class="ttdoc">Computes and quantizes the surface normals.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:724</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_a49d1ef3d40ddcf485b1a6c7739bfa301"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#a49d1ef3d40ddcf485b1a6c7739bfa301">pcl::SurfaceNormalModality::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const typename PointCloudIn::ConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset (overwrites the PCLBase::setInputCloud method)</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:414</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_a4e79645c315583b70b671461f46edf70"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#a4e79645c315583b70b671461f46edf70">pcl::SurfaceNormalModality::processInputData</a></div><div class="ttdeci">virtual void processInputData()</div><div class="ttdoc">Processes the input data (smoothing, computing gradients, quantizing, filtering, spreading).</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:514</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_a502066744d48e115f9416107cf8e9336"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#a502066744d48e115f9416107cf8e9336">pcl::SurfaceNormalModality::setSpreadingSize</a></div><div class="ttdeci">void setSpreadingSize(const size_t spreading_size)</div><div class="ttdoc">Sets the spreading size.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:340</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_a8091954a4456860ee5ac563715bfbf72"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#a8091954a4456860ee5ac563715bfbf72">pcl::SurfaceNormalModality::processInputDataFromFiltered</a></div><div class="ttdeci">virtual void processInputDataFromFiltered()</div><div class="ttdoc">Processes the input data assuming that everything up to filtering is already done/available (so only ...</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:535</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_a8e7319d0e451388baf875fba8a223bf0"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#a8e7319d0e451388baf875fba8a223bf0">pcl::SurfaceNormalModality::quantizeSurfaceNormals</a></div><div class="ttdeci">void quantizeSurfaceNormals()</div><div class="ttdoc">Quantizes the surface normals.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:1366</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_a9210a435968b3cac68435cec03420df5"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#a9210a435968b3cac68435cec03420df5">pcl::SurfaceNormalModality::getSpreadedQuantizedMap</a></div><div class="ttdeci">QuantizedMap &amp; getSpreadedQuantizedMap()</div><div class="ttdoc">Returns a reference to the internal spreaded quantized map.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:377</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_ab6f7ea436fe627a8d04608b2aca933cc"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#ab6f7ea436fe627a8d04608b2aca933cc">pcl::SurfaceNormalModality::computeDistanceMap</a></div><div class="ttdeci">void computeDistanceMap(const MaskMap &amp;input, DistanceMap &amp;output) const</div><div class="ttdoc">Computes a distance map from the supplied input mask.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:1579</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_ab74742de3ba15cbfeca0969c60d95b80"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#ab74742de3ba15cbfeca0969c60d95b80">pcl::SurfaceNormalModality::getQuantizedMap</a></div><div class="ttdeci">QuantizedMap &amp; getQuantizedMap()</div><div class="ttdoc">Returns a reference to the internal quantized map.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:370</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_abd392f560bb5315a29b6db45b43ad7ad"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#abd392f560bb5315a29b6db45b43ad7ad">pcl::SurfaceNormalModality::spreading_size_</a></div><div class="ttdeci">size_t spreading_size_</div><div class="ttdoc">The spreading size.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:471</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_ac0085264e48d5c5dc4317aa0ea1d4aad"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#ac0085264e48d5c5dc4317aa0ea1d4aad">pcl::SurfaceNormalModality::surface_normal_orientations_</a></div><div class="ttdeci">pcl::LINEMOD_OrientationMap surface_normal_orientations_</div><div class="ttdoc">Map containing surface normal orientations.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:483</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_ad10f56a7c00a36cbffc6b3dd464b6bb2"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#ad10f56a7c00a36cbffc6b3dd464b6bb2">pcl::SurfaceNormalModality::extractFeatures</a></div><div class="ttdeci">void extractFeatures(const MaskMap &amp;mask, size_t nr_features, size_t modality_index, std::vector&lt; QuantizedMultiModFeature &gt; &amp;features) const</div><div class="ttdoc">Extracts features from this modality within the specified mask.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:965</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_ad22686f686120cbec54eeca27c8850f0"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#ad22686f686120cbec54eeca27c8850f0">pcl::SurfaceNormalModality::getSurfaceNormals</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::Normal &gt; &amp; getSurfaceNormals()</div><div class="ttdoc">Returns the surface normals.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:356</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_adf2fb96f80b26c7baff085ab01c844ee"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#adf2fb96f80b26c7baff085ab01c844ee">pcl::SurfaceNormalModality::getOrientationMap</a></div><div class="ttdeci">LINEMOD_OrientationMap &amp; getOrientationMap()</div><div class="ttdoc">Returns a reference to the orientation map.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:384</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_adf5471ede18de2346bf72e430687b576"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#adf5471ede18de2346bf72e430687b576">pcl::SurfaceNormalModality::SurfaceNormalModality</a></div><div class="ttdeci">SurfaceNormalModality()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:492</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_ae0e36dff36e4a80f4be853159630d0d2"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#ae0e36dff36e4a80f4be853159630d0d2">pcl::SurfaceNormalModality::setVariableFeatureNr</a></div><div class="ttdeci">void setVariableFeatureNr(const bool enabled)</div><div class="ttdoc">Enables/disables the use of extracting a variable number of features.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:349</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_ae0f10e280b61a13ff064e9578164204d"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#ae0f10e280b61a13ff064e9578164204d">pcl::SurfaceNormalModality::filterQuantizedSurfaceNormals</a></div><div class="ttdeci">void filterQuantizedSurfaceNormals()</div><div class="ttdoc">Filters the quantized surface normals.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:1407</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_ae2e47d44e126b6b5d70e9566b1d942b0"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#ae2e47d44e126b6b5d70e9566b1d942b0">pcl::SurfaceNormalModality::variable_feature_nr_</a></div><div class="ttdeci">bool variable_feature_nr_</div><div class="ttdoc">Determines whether variable numbers of features are extracted or not.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:460</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_ae48fc2c0d10318818afd1db0f3a32713"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#ae48fc2c0d10318818afd1db0f3a32713">pcl::SurfaceNormalModality::quantized_surface_normals_</a></div><div class="ttdeci">pcl::QuantizedMap quantized_surface_normals_</div><div class="ttdoc">Quantized surface normals.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:476</div></div>
<div class="ttc" id="aclasspcl_1_1_surface_normal_modality_html_af31077712cfe8911bd9627f79ab3782f"><div class="ttname"><a href="classpcl_1_1_surface_normal_modality.html#af31077712cfe8911bd9627f79ab3782f">pcl::SurfaceNormalModality::extractAllFeatures</a></div><div class="ttdeci">void extractAllFeatures(const MaskMap &amp;mask, size_t nr_features, size_t modality_index, std::vector&lt; QuantizedMultiModFeature &gt; &amp;features) const</div><div class="ttdoc">Extracts all possible features from the modality within the specified mask.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:1237</div></div>
<div class="ttc" id="acommon_2include_2pcl_2point__types_8h_html"><div class="ttname"><a href="common_2include_2pcl_2point__types_8h.html">point_types.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_l_i_n_e_m_o_d___orientation_map_html"><div class="ttname"><a href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html">pcl::LINEMOD_OrientationMap</a></div><div class="ttdoc">Map that stores orientations.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:56</div></div>
<div class="ttc" id="astructpcl_1_1_l_i_n_e_m_o_d___orientation_map_html_a26fe4965b3772a6d05049231b27e5f20"><div class="ttname"><a href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#a26fe4965b3772a6d05049231b27e5f20">pcl::LINEMOD_OrientationMap::map_</a></div><div class="ttdeci">std::vector&lt; float &gt; map_</div><div class="ttdoc">Storage for the data of the map.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:118</div></div>
<div class="ttc" id="astructpcl_1_1_l_i_n_e_m_o_d___orientation_map_html_a5a571ff35d370ffa81db4991b3201f63"><div class="ttname"><a href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#a5a571ff35d370ffa81db4991b3201f63">pcl::LINEMOD_OrientationMap::getWidth</a></div><div class="ttdeci">size_t getWidth() const</div><div class="ttdoc">Returns the width of the modality data map.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:65</div></div>
<div class="ttc" id="astructpcl_1_1_l_i_n_e_m_o_d___orientation_map_html_a5c6fc26c72b14155b8cf8a1938b12ee5"><div class="ttname"><a href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#a5c6fc26c72b14155b8cf8a1938b12ee5">pcl::LINEMOD_OrientationMap::height_</a></div><div class="ttdeci">size_t height_</div><div class="ttdoc">The height of the map.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:116</div></div>
<div class="ttc" id="astructpcl_1_1_l_i_n_e_m_o_d___orientation_map_html_a666d06b4a007cd001ba4292b2247b53a"><div class="ttname"><a href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#a666d06b4a007cd001ba4292b2247b53a">pcl::LINEMOD_OrientationMap::resize</a></div><div class="ttdeci">void resize(const size_t width, const size_t height, const float value)</div><div class="ttdoc">Resizes the map to the specific width and height and initializes all new elements with the specified ...</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:84</div></div>
<div class="ttc" id="astructpcl_1_1_l_i_n_e_m_o_d___orientation_map_html_a68103b3b1823c0a27a31b1fb5fb865c4"><div class="ttname"><a href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#a68103b3b1823c0a27a31b1fb5fb865c4">pcl::LINEMOD_OrientationMap::~LINEMOD_OrientationMap</a></div><div class="ttdeci">~LINEMOD_OrientationMap()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:61</div></div>
<div class="ttc" id="astructpcl_1_1_l_i_n_e_m_o_d___orientation_map_html_a700d870eb5a8eb8d92855a1963127094"><div class="ttname"><a href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#a700d870eb5a8eb8d92855a1963127094">pcl::LINEMOD_OrientationMap::LINEMOD_OrientationMap</a></div><div class="ttdeci">LINEMOD_OrientationMap()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:59</div></div>
<div class="ttc" id="astructpcl_1_1_l_i_n_e_m_o_d___orientation_map_html_a768bdbc948ce45be9ef1829fb241120a"><div class="ttname"><a href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#a768bdbc948ce45be9ef1829fb241120a">pcl::LINEMOD_OrientationMap::getHeight</a></div><div class="ttdeci">size_t getHeight() const</div><div class="ttdoc">Returns the height of the modality data map.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:72</div></div>
<div class="ttc" id="astructpcl_1_1_l_i_n_e_m_o_d___orientation_map_html_a8a89ab8ad288eddab56d0faaf011fbfa"><div class="ttname"><a href="structpcl_1_1_l_i_n_e_m_o_d___orientation_map.html#a8a89ab8ad288eddab56d0faaf011fbfa">pcl::LINEMOD_OrientationMap::width_</a></div><div class="ttdeci">size_t width_</div><div class="ttdoc">The width of the map.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:114</div></div>
<div class="ttc" id="astructpcl_1_1_normal_html"><div class="ttname"><a href="structpcl_1_1_normal.html">pcl::Normal</a></div><div class="ttdoc">A point structure representing normal coordinates and the surface curvature estimate....</div><div class="ttdef"><b>Definition:</b> point_types.hpp:779</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z.html">pcl::PointXYZ</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates. (SSE friendly)</div><div class="ttdef"><b>Definition:</b> point_types.hpp:282</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_multi_mod_feature_html"><div class="ttname"><a href="structpcl_1_1_quantized_multi_mod_feature.html">pcl::QuantizedMultiModFeature</a></div><div class="ttdoc">Feature that defines a position and quantized value in a specific modality.</div><div class="ttdef"><b>Definition:</b> sparse_quantized_multi_mod_template.h:52</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_multi_mod_feature_html_a4738f0df69322f7d10ff08ea9f78436f"><div class="ttname"><a href="structpcl_1_1_quantized_multi_mod_feature.html#a4738f0df69322f7d10ff08ea9f78436f">pcl::QuantizedMultiModFeature::x</a></div><div class="ttdeci">int x</div><div class="ttdoc">x-position.</div><div class="ttdef"><b>Definition:</b> sparse_quantized_multi_mod_template.h:57</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_multi_mod_feature_html_aaa0d24e187cac516ee374d8aeda17a6e"><div class="ttname"><a href="structpcl_1_1_quantized_multi_mod_feature.html#aaa0d24e187cac516ee374d8aeda17a6e">pcl::QuantizedMultiModFeature::quantized_value</a></div><div class="ttdeci">unsigned char quantized_value</div><div class="ttdoc">the quantized value attached to the feature.</div><div class="ttdef"><b>Definition:</b> sparse_quantized_multi_mod_template.h:63</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_multi_mod_feature_html_ac64b7a232a4526c6f67b4ae6195d4149"><div class="ttname"><a href="structpcl_1_1_quantized_multi_mod_feature.html#ac64b7a232a4526c6f67b4ae6195d4149">pcl::QuantizedMultiModFeature::modality_index</a></div><div class="ttdeci">size_t modality_index</div><div class="ttdoc">the index of the corresponding modality.</div><div class="ttdef"><b>Definition:</b> sparse_quantized_multi_mod_template.h:61</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_multi_mod_feature_html_accb11ae888160446c94d0b30aafd222e"><div class="ttname"><a href="structpcl_1_1_quantized_multi_mod_feature.html#accb11ae888160446c94d0b30aafd222e">pcl::QuantizedMultiModFeature::y</a></div><div class="ttdeci">int y</div><div class="ttdoc">y-position.</div><div class="ttdef"><b>Definition:</b> sparse_quantized_multi_mod_template.h:59</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_normal_look_up_table_html"><div class="ttname"><a href="structpcl_1_1_quantized_normal_look_up_table.html">pcl::QuantizedNormalLookUpTable</a></div><div class="ttdoc">Look-up-table for fast surface normal quantization.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:126</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_normal_look_up_table_html_a2d9e7e945f704a7a870da490f9c8f41a"><div class="ttname"><a href="structpcl_1_1_quantized_normal_look_up_table.html#a2d9e7e945f704a7a870da490f9c8f41a">pcl::QuantizedNormalLookUpTable::size_y</a></div><div class="ttdeci">int size_y</div><div class="ttdoc">The size of the LUT in y-direction.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:144</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_normal_look_up_table_html_a3720afaa1a28cc7d0c985ef6ba8b9ed7"><div class="ttname"><a href="structpcl_1_1_quantized_normal_look_up_table.html#a3720afaa1a28cc7d0c985ef6ba8b9ed7">pcl::QuantizedNormalLookUpTable::initializeLUT</a></div><div class="ttdeci">void initializeLUT(const int range_x_arg, const int range_y_arg, const int range_z_arg)</div><div class="ttdoc">Initializes the LUT.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:171</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_normal_look_up_table_html_a40c7090c6624456eb7453e9ca3340ec9"><div class="ttname"><a href="structpcl_1_1_quantized_normal_look_up_table.html#a40c7090c6624456eb7453e9ca3340ec9">pcl::QuantizedNormalLookUpTable::size_x</a></div><div class="ttdeci">int size_x</div><div class="ttdoc">The size of the LUT in x-direction.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:142</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_normal_look_up_table_html_a4cd6a5749e1c5563eab97da895f7cb08"><div class="ttname"><a href="structpcl_1_1_quantized_normal_look_up_table.html#a4cd6a5749e1c5563eab97da895f7cb08">pcl::QuantizedNormalLookUpTable::operator()</a></div><div class="ttdeci">unsigned char operator()(const float x, const float y, const float z) const</div><div class="ttdoc">Operator to access an element in the LUT.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:268</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_normal_look_up_table_html_a4f81c47eb0b6efaa389b4de6b926ace8"><div class="ttname"><a href="structpcl_1_1_quantized_normal_look_up_table.html#a4f81c47eb0b6efaa389b4de6b926ace8">pcl::QuantizedNormalLookUpTable::QuantizedNormalLookUpTable</a></div><div class="ttdeci">QuantizedNormalLookUpTable()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:152</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_normal_look_up_table_html_a55c14b12d6bfc1ea927a0433d7625afa"><div class="ttname"><a href="structpcl_1_1_quantized_normal_look_up_table.html#a55c14b12d6bfc1ea927a0433d7625afa">pcl::QuantizedNormalLookUpTable::~QuantizedNormalLookUpTable</a></div><div class="ttdeci">~QuantizedNormalLookUpTable()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:159</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_normal_look_up_table_html_a5e8c0d25ae7c8eca843543199354ce16"><div class="ttname"><a href="structpcl_1_1_quantized_normal_look_up_table.html#a5e8c0d25ae7c8eca843543199354ce16">pcl::QuantizedNormalLookUpTable::range_y</a></div><div class="ttdeci">int range_y</div><div class="ttdoc">The range of the LUT in y-direction.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:130</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_normal_look_up_table_html_a655a2a37c17dc50d2bba74ba501bba84"><div class="ttname"><a href="structpcl_1_1_quantized_normal_look_up_table.html#a655a2a37c17dc50d2bba74ba501bba84">pcl::QuantizedNormalLookUpTable::offset_x</a></div><div class="ttdeci">int offset_x</div><div class="ttdoc">The offset in x-direction.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:135</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_normal_look_up_table_html_a79f6a576592ac907728c09aa01aba719"><div class="ttname"><a href="structpcl_1_1_quantized_normal_look_up_table.html#a79f6a576592ac907728c09aa01aba719">pcl::QuantizedNormalLookUpTable::lut</a></div><div class="ttdeci">unsigned char * lut</div><div class="ttdoc">The LUT data.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:149</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_normal_look_up_table_html_aa0b113c6ffb1f044e0fca0cbaafdd956"><div class="ttname"><a href="structpcl_1_1_quantized_normal_look_up_table.html#aa0b113c6ffb1f044e0fca0cbaafdd956">pcl::QuantizedNormalLookUpTable::offset_z</a></div><div class="ttdeci">int offset_z</div><div class="ttdoc">The offset in z-direction.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:139</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_normal_look_up_table_html_aa4c9a05828df028bda2268787a12c6b3"><div class="ttname"><a href="structpcl_1_1_quantized_normal_look_up_table.html#aa4c9a05828df028bda2268787a12c6b3">pcl::QuantizedNormalLookUpTable::range_z</a></div><div class="ttdeci">int range_z</div><div class="ttdoc">The range of the LUT in z-direction.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:132</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_normal_look_up_table_html_acedb18bb8f24ecd63f578b04b87980ca"><div class="ttname"><a href="structpcl_1_1_quantized_normal_look_up_table.html#acedb18bb8f24ecd63f578b04b87980ca">pcl::QuantizedNormalLookUpTable::size_z</a></div><div class="ttdeci">int size_z</div><div class="ttdoc">The size of the LUT in z-direction.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:146</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_normal_look_up_table_html_af828a47f2a5a7e6df1896f4acec6f7a4"><div class="ttname"><a href="structpcl_1_1_quantized_normal_look_up_table.html#af828a47f2a5a7e6df1896f4acec6f7a4">pcl::QuantizedNormalLookUpTable::range_x</a></div><div class="ttdeci">int range_x</div><div class="ttdoc">The range of the LUT in x-direction.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:128</div></div>
<div class="ttc" id="astructpcl_1_1_quantized_normal_look_up_table_html_afb4886f45cf005ce297ae1297ade8d19"><div class="ttname"><a href="structpcl_1_1_quantized_normal_look_up_table.html#afb4886f45cf005ce297ae1297ade8d19">pcl::QuantizedNormalLookUpTable::offset_y</a></div><div class="ttdeci">int offset_y</div><div class="ttdoc">The offset in y-direction.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:137</div></div>
<div class="ttc" id="astructpcl_1_1_surface_normal_modality_1_1_candidate_html"><div class="ttname"><a href="structpcl_1_1_surface_normal_modality_1_1_candidate.html">pcl::SurfaceNormalModality::Candidate</a></div><div class="ttdoc">Candidate for a feature (used in feature extraction methods).</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:301</div></div>
<div class="ttc" id="astructpcl_1_1_surface_normal_modality_1_1_candidate_html_a045f6c308701efed2769df8e8320302e"><div class="ttname"><a href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#a045f6c308701efed2769df8e8320302e">pcl::SurfaceNormalModality::Candidate::Candidate</a></div><div class="ttdeci">Candidate()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:303</div></div>
<div class="ttc" id="astructpcl_1_1_surface_normal_modality_1_1_candidate_html_a27db3c3a483fc4fb4df419fbc643c996"><div class="ttname"><a href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#a27db3c3a483fc4fb4df419fbc643c996">pcl::SurfaceNormalModality::Candidate::distance</a></div><div class="ttdeci">float distance</div><div class="ttdoc">Distance to the next different quantized value.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:308</div></div>
<div class="ttc" id="astructpcl_1_1_surface_normal_modality_1_1_candidate_html_a3d494817c873a9485cc88fd14c3e0948"><div class="ttname"><a href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#a3d494817c873a9485cc88fd14c3e0948">pcl::SurfaceNormalModality::Candidate::x</a></div><div class="ttdeci">size_t x</div><div class="ttdoc">x-position of the feature.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:314</div></div>
<div class="ttc" id="astructpcl_1_1_surface_normal_modality_1_1_candidate_html_a81e312e092eb9c37b6072e795977803d"><div class="ttname"><a href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#a81e312e092eb9c37b6072e795977803d">pcl::SurfaceNormalModality::Candidate::normal</a></div><div class="ttdeci">Normal normal</div><div class="ttdoc">Normal.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:306</div></div>
<div class="ttc" id="astructpcl_1_1_surface_normal_modality_1_1_candidate_html_aba2d91bbb5969c4648dbf31c0246f2cd"><div class="ttname"><a href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#aba2d91bbb5969c4648dbf31c0246f2cd">pcl::SurfaceNormalModality::Candidate::y</a></div><div class="ttdeci">size_t y</div><div class="ttdoc">y-position of the feature.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:316</div></div>
<div class="ttc" id="astructpcl_1_1_surface_normal_modality_1_1_candidate_html_ad91ad8006eac9c920dcda4d0e3dad5dd"><div class="ttname"><a href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#ad91ad8006eac9c920dcda4d0e3dad5dd">pcl::SurfaceNormalModality::Candidate::operator&lt;</a></div><div class="ttdeci">bool operator&lt;(const Candidate &amp;rhs) const</div><div class="ttdoc">Compares two candidates based on their distance to the next different quantized value.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:322</div></div>
<div class="ttc" id="astructpcl_1_1_surface_normal_modality_1_1_candidate_html_af2e406c33133a890c136fffce75c1d1d"><div class="ttname"><a href="structpcl_1_1_surface_normal_modality_1_1_candidate.html#af2e406c33133a890c136fffce75c1d1d">pcl::SurfaceNormalModality::Candidate::bin_index</a></div><div class="ttdeci">unsigned char bin_index</div><div class="ttdoc">Quantized value.</div><div class="ttdef"><b>Definition:</b> surface_normal_modality.h:311</div></div>
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